AGV jacking mechanism and AGV with same

Abstract

The application provides an AGV jacking mechanism and an AGV with the same. The AGV jacking mechanism comprises a base, a load-bearing structure located above the base, and a lifting assembly located between the base and the load-bearing structure. The lifting assembly comprises a driving member, a first driven assembly and a second driven assembly. The driving member is connected with the first driven assembly and the second driven assembly through the first driven assembly. The first driven assembly is pivotally connected with the base and the load-bearing structure. The second driven assembly is pivotally connected with the load-bearing structure or the base. The first driven assembly and the second driven assembly are driven to move by pushing or pulling the driving member, so as to drive the load-bearing structure to move up and down. A guide structure is arranged on the base or the load-bearing structure and has a guide part. The guide part cooperates with at least part of the second driven assembly to guide the second driven assembly. The application effectively solves the problems of high cost and complex structure of the lifting mechanism in the prior art.

Description

Technical Field

[0001] This invention relates to the field of AGV technology, and more specifically, to an AGV lifting mechanism and an AGV having the same. Background Technology

[0002] Currently, AGV (Automated Guided Vehicle) mobile machines are being widely used, playing a crucial role in improving factory efficiency. Among them, the lifting mechanism of the AGV mobile machine is used to lift load-bearing structures and loads.

[0003] In existing technologies, the lifting mechanism bears a large load and stress on the load-bearing structure during the lifting process, which leads to a large stress on the lifting structure, making it prone to structural damage and affecting the overall service life of the AGV mobile machine.

[0004] To address these issues, lifting mechanisms typically employ high-strength materials or multi-linkage mechanisms. However, high-strength materials increase production costs and require higher production precision, while multi-linkage mechanisms result in more complex structures and larger dimensions for the lifting mechanism, thus limiting the overall size of the AGV. Summary of the Invention

[0005] The main objective of this invention is to provide an AGV lifting mechanism and an AGV having the same, so as to solve the problems of high cost and complex structure of existing lifting mechanisms.

[0006] To achieve the above objectives, according to one aspect of the present invention, an AGV lifting mechanism is provided, comprising: a base; a load-bearing structure located above the base; a lifting assembly located between the base and the load-bearing structure, the lifting assembly including an active member, a first driven component, and a second driven component, the active member being connected to the second driven component via the first driven component, the first driven component being pivotally connected to both the base and the load-bearing structure, and the second driven component being pivotally connected to either the load-bearing structure or the base; the active member is pushed or pulled to drive the first and second driven components to move, thereby driving the load-bearing structure to perform lifting and lowering movements; a guide structure disposed on the base or the load-bearing structure and having a guide portion, the guide portion cooperating with at least a portion of the second driven component to guide the second driven component.

[0007] Furthermore, the AGV lifting mechanism also includes a limiting structure, comprising a limiting protrusion and a limiting recess, one of which is disposed on the base, and the other of which is disposed on the load-bearing structure. The limiting protrusion extends into the limiting recess and can move along the extending direction of the limiting recess; wherein the extending direction of the limiting recess is consistent with the lifting direction of the load-bearing structure.

[0008] Furthermore, the limiting structure also includes: a first mounting part, with a limiting recess disposed on the first mounting part; and a second mounting part, with a limiting protrusion disposed on the second mounting part; wherein, one of the first mounting part and the second mounting part is disposed on the load-bearing structure, one of the first mounting part and the second mounting part is disposed on the base, and at least a portion of the first mounting part and the second mounting part are disposed opposite to each other.

[0009] Furthermore, the first driven component includes: a first link, pivotally connected to the load-bearing structure; a second link, pivotally connected to the base; a first connecting shaft, on which the first link and the second link are rotatably mounted, and the driving component is pivotally connected to the first connecting shaft.

[0010] Furthermore, the second driven component includes: a third link, pivotally connected to the load-bearing structure; a fourth link, the first end of which is rotatably sleeved on the first connecting shaft; and a second connecting shaft, the second ends of the third and fourth links being rotatably sleeved on the second connecting shaft, at least a portion of which cooperates with the guide portion; wherein the third link and the first link are arranged parallel to each other, and the extension direction of the fourth link is arranged parallel to the load-bearing surface of the load-bearing structure.

[0011] Further, the second driven component includes: a third link, pivotally connected to the base; a fourth link, the first end of which is rotatably sleeved on the first connecting shaft; and a second connecting shaft, the second ends of the third and fourth links being rotatably sleeved on the second connecting shaft, at least a portion of which cooperates with the guide portion; wherein the third link and the first link are arranged parallel to each other, and the extension direction of the fourth link is parallel to the base.

[0012] Furthermore, the guide structure includes two guide portions arranged opposite to each other, each guide portion being a concave portion, and the two ends of the second connecting shaft extending into the two guide portions respectively, so as to slide along the extension direction of the guide portions.

[0013] Further, the first link includes: two opposing first rods, one end of each first rod being pivotally connected to the load-bearing structure and the other end being sleeved on the first connecting shaft; a second rod, both ends of which are respectively connected to the two first rods; a third rod, one end of which is connected to the second rod and the other end of which is sleeved on the first connecting shaft; and / or, the second link includes: two opposing fourth rods, one end of each fourth rod being pivotally connected to the base and the other end of which is sleeved on the first connecting shaft; a fifth rod, both ends of which are respectively connected to the two fourth rods; and a sixth rod, one end of which is connected to the fifth rod and the other end of which is sleeved on the first connecting shaft.

[0014] According to another aspect of the present invention, an AGV is provided, comprising: a chassis including a frame assembly and a swing bridge, the swing bridge being swayably disposed on the frame assembly and located on one side of the frame assembly, the frame assembly including a front frame and a rear frame pivotally connected; the swing axis of the swing bridge being along the travel direction of the frame assembly; and an AGV lifting mechanism disposed on the chassis; wherein the AGV lifting mechanism is the aforementioned AGV lifting mechanism.

[0015] Furthermore, the base includes: a frame assembly including a pivotally connected front frame and a rear frame; a swing bridge pivotally mounted on the frame assembly and located on one side of the frame assembly; wherein the swing axis of the swing bridge is along the travel direction of the frame assembly.

[0016] Furthermore, one of the front frame and the rear frame has a mounting protrusion, and the other of the front frame and the rear frame has a mounting recess, the mounting protrusion extending into the mounting recess and pivotally connected to the mounting recess to connect the front frame and the rear frame.

[0017] Furthermore, a stop structure is provided between the front frame and the rear frame, which is used to limit and stop the front frame and / or the rear frame during the swinging process.

[0018] Furthermore, the AGV also includes: a drive wheel rotatably mounted on the swing bridge; a driven wheel rotatably mounted on the frame assembly, the drive wheel being connected to the driven wheel to drive the driven wheel to rotate; and a drive wheel drive device connected to the drive wheel drive to drive the drive wheel to rotate, a portion of which is embedded in the swing bridge.

[0019] According to the technical solution of this invention, the AGV lifting mechanism includes a base, a load-bearing structure, a lifting assembly, and a guide structure. The lifting assembly includes an active component, a first driven component, and a second driven component. The active component is connected to the second driven component via the first driven component. The first driven component is pivotally connected to both the base and the load-bearing structure. At least a portion of the second driven component is pivotally connected to the load-bearing structure. The guide structure is disposed on the base and has a guide portion. At least a portion of the second driven component cooperates with the guide portion to guide the second driven component. The first driven component is pivotally connected to both the base and the load-bearing structure. A portion of the second driven component is pivotally connected to the load-bearing structure, and a portion cooperates with the guide portion, thus simplifying the structure of the lifting assembly and making it easier to manufacture and implement. Therefore, when it is necessary to lift a load placed on the load-bearing structure, pushing or pulling the active component drives the first driven component to move. The first driven component simultaneously drives the second driven component to move, thereby synchronously driving the load-bearing structure and the load to lift and lower.

[0020] Compared with existing lifting mechanisms, the lifting component in this invention has a simpler structure, is easier to manufacture and implement, thereby reducing the manufacturing cost and assembly / disassembly difficulty of the lifting component, and solving the problems of high cost and complex structure of existing lifting mechanisms. Simultaneously, during the lifting process where the lifting component drives the load-bearing structure and load to rise and fall, the guide structure guides the lifting direction of the second driven component, further improving the lifting stability of the load-bearing structure. Currently, AGVs require small overall size, low manufacturing cost, and high load capacity. The structure adopted in this invention can effectively reduce the overall size, facilitating vehicle layout; synchronous lifting is achieved through a combination of connecting rods and slides; when the vehicle lifting structure is subjected to external torsional forces, internal stress can be released through the slide gaps, reducing the precision requirements for related components and thus lowering costs. Attached Figure Description

[0021] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0022] Figure 1 A front view of a first embodiment of the AGV lifting mechanism according to the present invention is shown;

[0023] Figure 2 It shows Figure 1 A three-dimensional structural diagram of the AGV lifting mechanism in the diagram;

[0024] Figure 3 It shows Figure 2 A three-dimensional structural diagram of the AGV lifting mechanism from another angle;

[0025] Figure 4 It shows Figure 1 A schematic diagram of the limiting structure of the AGV lifting mechanism in the diagram;

[0026] Figure 5 A three-dimensional structural diagram of the chassis and AGV lifting mechanism after assembly according to an embodiment of the AGV of the present invention is shown;

[0027] Figure 6 It shows Figure 5 A three-dimensional structural diagram of the chassis of the AGV in the diagram;

[0028] Figure 7 It shows Figure 5 A three-dimensional structural diagram of the chassis from another angle;

[0029] Figure 8 It shows Figure 5 A partially enlarged schematic diagram of the chassis;

[0030] Figure 9 It shows Figure 5 A three-dimensional structural diagram of the AGV's swing bridge, drive wheel, and drive wheel drive device after assembly.

[0031] Figure 10 It shows Figure 9 A three-dimensional structural diagram of the swing bridge and the active wheel drive device after assembly;

[0032] Figure 11 A front view of a second embodiment of the AGV lifting mechanism according to the present invention is shown.

[0033] The above figures include the following reference numerals:

[0034] 10. Base;

[0035] 20. Load-bearing structure;

[0036] 30. Lifting assembly; 31. Driving component; 32. First driven assembly; 321. First link; 3211. First rod; 3212. Second rod; 3213. Third rod; 322. Second link; 3221. Fourth rod; 3222. Fifth rod; 3223. Sixth rod; 323. First connecting shaft; 33. Second driven assembly; 331. Third link; 3311. Seventh rod; 3312. Eighth rod; 3313. Ninth rod; 332. Fourth link; 333. Second connecting shaft;

[0037] 40. Guiding structure; 41. Guiding part;

[0038] 50. Limiting structure; 51. Limiting protrusion; 52. Limiting recess; 53. First mounting part; 54. Second mounting part;

[0039] 60. Chassis; 61. Front frame; 62. Rear frame; 63. Swing axle; 64. Mounting protrusion; 65. Mounting recess; 66. Stop structure; 67. Axle;

[0040] 71. Driving wheel; 72. Driven wheel; 73. Driving wheel drive device;

[0041] 80. AGV lifting mechanism. Detailed Implementation

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0043] It should be noted that, unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0044] In this invention, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0045] To address the issues of high cost and complex structure of existing lifting mechanisms, this invention provides an AGV lifting mechanism and an AGV incorporating it.

[0046] Example 1

[0047] like Figures 1 to 4 As shown, the AGV lifting mechanism includes a base 10, a load-bearing structure 20, a lifting assembly 30, and a guide structure 40. The load-bearing structure 20 is located above the base 10. The lifting assembly 30 is located between the base 10 and the load-bearing structure 20. The lifting assembly 30 includes an active component 31, a first driven component 32, and a second driven component 33. The active component 31 is connected to the second driven component 33 via the first driven component 32. The first driven component 32 is pivotally connected to both the base 10 and the load-bearing structure 20, and the second driven component 33 is pivotally connected to the load-bearing structure 20. Pushing or pulling the active component 31 drives the first driven component 32 and the second driven component 33 to move, thereby causing the load-bearing structure 20 to lift or lower. The guide structure 40 is mounted on the base 10 and has a guide portion 41. The guide portion 41 cooperates with at least a portion of the second driven component 33 to guide the second driven component 33.

[0048] Applying the technical solution of this embodiment, the first driven component 32 is pivotally connected to both the base 10 and the load-bearing structure 20. A portion of the second driven component 33 is pivotally connected to the load-bearing structure 20, and a portion cooperates with the guide portion 41, thus simplifying the structure of the lifting component 30 and making it easier to manufacture and implement. When it is necessary to lift the load placed on the load-bearing structure 20, the push-pull driving member 31 drives the first driven component 32 to move. The first driven component 32 simultaneously drives the second driven component 33 to move, thereby synchronously driving the load-bearing structure 20 and the load to lift and lower.

[0049] Compared with existing lifting mechanisms, the lifting component 30 in this embodiment has a simpler structure, is easier to manufacture and implement, thereby reducing the manufacturing cost and assembly / disassembly difficulty of the lifting component 30, and solving the problems of high cost and complex structure of existing lifting mechanisms. Simultaneously, during the lifting process where the lifting component 30 drives the load-bearing structure 20 and the load to rise and fall, the guide structure 40 guides the lifting direction of the second driven component 33, further improving the lifting stability of the load-bearing structure 20. Currently, AGVs require small overall size, low manufacturing cost, and high load capacity. The structure adopted in this invention can effectively reduce the overall size, facilitating vehicle layout; synchronous lifting is achieved through a combination of connecting rods and slides; when the vehicle lifting structure is subjected to external torsion, internal stress can be released through the slide gap, reducing the precision requirements for related components and thus lowering costs.

[0050] In this embodiment, the existing complex linkage lifting mechanism is simplified, and the stress problem of the lifting component is solved with a simple and compact structure and low material requirements.

[0051] Specifically, when the driving component 31 is pulled, the first driven component 32 and the second driven component 33 drive the load-bearing structure 20 and the load to descend synchronously; when the driving component 31 is pushed, the first driven component 32 and the second driven component 33 drive the load-bearing structure 20 and the load to rise synchronously.

[0052] like Figure 1 , Figure 3 and Figure 4 As shown, the AGV lifting mechanism also includes a limiting structure 50, which includes a limiting protrusion 51 and a limiting recess 52. One of the limiting protrusion 51 and the limiting recess 52 is disposed on the base 10, and the other is disposed on the load-bearing structure 20. The limiting protrusion 51 extends into the limiting recess 52 and can move along the extending direction of the limiting recess 52. The extending direction of the limiting recess 52 is consistent with the lifting direction of the load-bearing structure 20. Thus, during the lifting motion of the lifting assembly 30, which drives the load-bearing structure 20 and the load, the limiting structure 50 guides and limits the movement direction of the load-bearing structure 20, ensuring that the load-bearing structure 20 always moves along the height direction, thereby improving the lifting stability and reliability of the lifting assembly 30. Simultaneously, the above arrangement allows for more flexible placement of the limiting protrusion 51 and the limiting recess 52 to meet different usage requirements and working conditions, and also improves the processing flexibility of the workers.

[0053] In this embodiment, the limiting protrusion 51 is disposed on the base 10, and the limiting recess 52 is disposed on the load-bearing structure 20. The limiting protrusion 51 extends into the limiting recess 52 and can move along the extending direction of the limiting recess 52.

[0054] Optionally, there is one limiting structure 50; or there are multiple limiting structures 50, which are spaced apart along the length and / or width of the load-bearing structure 20.

[0055] like Figure 3 and Figure 4 As shown, the limiting structure 50 also includes a first mounting portion 53 and a second mounting portion 54. A limiting recess 52 is disposed on the first mounting portion 53, and a limiting protrusion 51 is disposed on the second mounting portion 54. One of the first mounting portion 53 and the second mounting portion 54 is disposed on the load-bearing structure 20, and the other is disposed on the base 10. At least a portion of the first mounting portion 53 and the second mounting portion 54 are disposed opposite to each other. This arrangement simplifies the structure of the limiting structure 50, making it easier to manufacture and implement, and reducing the manufacturing cost and difficulty of the limiting structure 50.

[0056] Specifically, the first mounting part 53 is mounted on the load-bearing structure 20, and the second mounting part 54 is mounted on the base 10. The two are staggered and at least partially opposite to each other to ensure that they can cooperate with each other.

[0057] In this embodiment, the first mounting part 53 is plate-shaped and includes a first plate and a second plate that are connected to each other. The first plate is connected to the load-bearing structure 20. Along the direction from the load-bearing structure 20 to the base 10, the width of the first plate gradually decreases while the size of the second plate remains unchanged. The minimum width of the first plate is the same as the width of the second plate, so as to increase the structural strength of the first mounting part 53.

[0058] In this embodiment, the second mounting portion 54 is plate-shaped, and the width of at least a portion of the second mounting portion 54 gradually increases along the direction from the load-bearing structure 20 to the base 10, so as to increase the structural strength of the second mounting portion 54.

[0059] like Figure 1 and Figure 2 As shown, the first driven component 32 includes a first connecting rod 321, a second connecting rod 322, and a first connecting shaft 323. The first connecting rod 321 is pivotally connected to the load-bearing structure 20, the second connecting rod 322 is pivotally connected to the base 10, and the first and second connecting rods 321 and 322 are rotatably mounted on the first connecting shaft 323. The driving component 31 is pivotally connected to the first connecting shaft 323. This configuration simplifies the structure of the first driven component 32, making it easier to manufacture and implement, thus reducing manufacturing costs and difficulties. Simultaneously, this configuration ensures that the first driven component 32 can drive the load-bearing structure 20 in lifting and lowering motion, improving the reliability of the first driven component 32's movement.

[0060] Specifically, the first link 321 and the second link 322 have the same length. The first link 321 is directly opposite to the pivot end of the load-bearing structure 20 and the second link 322 is directly opposite to the pivot end of the base 10, so that the angle between the two and the first connecting shaft 323 is the same.

[0061] like Figure 1 and Figure 2 As shown, the second driven component 33 includes a third link 331, a fourth link 332, and a second connecting shaft 333. The third link 331 is pivotally connected to the load-bearing structure 20. The first end of the fourth link 332 is rotatably sleeved on the first connecting shaft 323, and the second ends of the third link 331 and the fourth link 332 are rotatably sleeved on the second connecting shaft 333. At least a portion of the second connecting shaft 333 cooperates with the guide portion 41. The third link 331 and the first link 321 are arranged parallel to each other, and the extension direction of the fourth link 332 is parallel to the load-bearing surface of the load-bearing structure 20. This arrangement simplifies the structure of the second driven component 33, making it easier to manufacture and implement, thus reducing the manufacturing cost and difficulty. Simultaneously, this arrangement ensures that the second driven component 33 can drive the load-bearing structure 20 to perform lifting and lowering movements, improving the reliability of the movement of the second driven component 33.

[0062] Specifically, the third link 331 is arranged parallel to the first link 321, so that the first link 321, the third link 331, the fourth link 332, and the load-bearing structure 20 form a parallelogram structure, thereby improving the lifting stability of the lifting assembly 30. The second connecting shaft 333 is arranged parallel to the first connecting shaft 323 and is located at the same height. The second connecting shaft 333 cooperates with the guide part 41 to slide along the extension direction of the guide part 41.

[0063] like Figures 1 to 3 As shown, the guide structure 40 includes two guide portions 41 arranged opposite to each other, each guide portion 41 being concave. Both ends of the second connecting shaft 333 extend into the two guide portions 41 respectively, allowing them to slide along the extending direction of the guide portions 41. The concave portions are arc-shaped with their centers located below the concave portions. This arrangement increases the contact area between the guide portions 41 and the second connecting shaft 333, further improving the guiding reliability and stability of the guide portions 41 on the second connecting shaft 333.

[0064] Specifically, the guide structure 40 includes two guide plates arranged opposite each other, and the fourth link 332 is located between the two guide plates. Each guide plate has a guide portion 41, thereby improving the connection stability between the guide structure 40 and the second driven component 33.

[0065] In this embodiment, the recess is a waist-shaped hole.

[0066] Optionally, the limiting protrusion 51 can be a bearing or a wheel. This configuration allows for greater flexibility in the structural selection of the limiting protrusion 51 to meet different usage requirements and working conditions, and also improves the processing flexibility of the operator. Furthermore, it ensures that the friction between the limiting protrusion 51 and the limiting recess 52 is rolling friction, reducing structural wear on the first mounting portion 53 and the second mounting portion 54, and extending the service life of the limiting structure 50.

[0067] In this embodiment, the limiting protrusion 51 is a bearing.

[0068] like Figure 2 As shown, the first connecting rod 321 includes two opposing first rods 3211, a second rod 3212, and a third rod 3213. One end of each first rod 3211 is pivotally connected to the load-bearing structure 20, and the other end is sleeved on the first connecting shaft 323. The two ends of the second rod 3212 are respectively connected to the two first rods 3211. One end of the third rod 3213 is connected to the second rod 3212, and the other end of the third rod 3213 is sleeved on the first connecting shaft 323. And / or, the second connecting rod 322 includes two opposing fourth rods 3221, a fifth rod 3222, and a sixth rod 3223. One end of each fourth rod 3221 is pivotally connected to the base 10, and the other end is sleeved on the first connecting shaft 323. The fifth rod 3222 is connected to two fourth rods 3221 at both ends, and one end of the sixth rod 3223 is connected to the fifth rod 3222. The other end of the sixth rod 3223 is sleeved on the first connecting shaft 323. This arrangement simplifies the structure of the first connecting rod 321 and / or the second connecting rod 322, making them easier to manufacture and implement, and reducing the manufacturing cost and difficulty of the first connecting rod 321 and / or the second connecting rod 322.

[0069] In this embodiment, the first connecting rod 321 includes two opposing first rods 3211, a second rod 3212, and a third rod 3213. One end of each first rod 3211 is pivotally connected to the load-bearing structure 20, and the other end is sleeved on the first connecting shaft 323. The two ends of the second rod 3212 are respectively connected to the two first rods 3211. One end of the third rod 3213 is connected to the second rod 3212, and the other end of the third rod 3213 is sleeved on the first connecting shaft 323. This arrangement makes the first connecting rod 321 an H-shaped structure, thereby improving the connection stability between the first connecting rod 321 and the load-bearing structure 20 and the first connecting shaft 323, dispersing the stress on the first connecting shaft 323, reducing the material requirements of the first connecting shaft 323, and preventing the first connecting rod 321 from detaching and affecting the lifting reliability of the lifting assembly 30. Simultaneously, the third rod 3213 serves a reinforcing function.

[0070] Specifically, the end of the first rod 3211 that connects to the load-bearing structure 20 has a first sleeve, which is fitted onto the pivot shaft for pivotal connection with the load-bearing structure 20. The end of the first rod 3211 that connects to the first connecting shaft 323 has a second sleeve, which is fitted onto the first connecting shaft 323.

[0071] In this embodiment, the second connecting rod 322 includes two fourth rods 3221, a fifth rod 3222, and a sixth rod 3223 arranged opposite to each other. One end of each fourth rod 3221 is pivotally connected to the base 10, and the other end is sleeved on the first connecting shaft 323. The two ends of the fifth rod 3222 are respectively connected to the two fourth rods 3221. One end of the sixth rod 3223 is connected to the fifth rod 3222, and the other end of the sixth rod 3223 is sleeved on the first connecting shaft 323. This arrangement makes the second connecting rod 322 an H-shaped structure, thereby improving the connection stability between the second connecting rod 322 and the base 10 and the first connecting shaft 323, dispersing the stress on the first connecting shaft 323, reducing the material requirements of the first connecting shaft 323, and preventing the second connecting rod 322 from detaching and affecting the lifting reliability of the lifting assembly 30. Simultaneously, the sixth rod 3223 serves a reinforcing function.

[0072] Specifically, the end of the second connecting rod 322 connected to the base 10 has a third sleeve, which is fitted onto the pivot shaft for pivotal connection with the base 10. The end of the second connecting rod 322 connected to the first connecting shaft 323 has a fourth sleeve, which is fitted onto the first connecting shaft 323.

[0073] In this embodiment, the third link 331 includes two opposing seventh links 3311, an eighth link 3312, and a ninth link 3313. One end of each seventh link 3311 is pivotally connected to the load-bearing structure 20, and the other end is sleeved on the second connecting shaft 333. The two ends of the eighth link 3312 are respectively connected to the two seventh links 3311. One end of the ninth link 3313 is connected to the eighth link 3312, and the other end of the ninth link 3313 is sleeved on the second connecting shaft 333. This arrangement makes the third link 331 an H-shaped structure, thereby improving the connection stability between the third link 331 and the load-bearing structure 20 and the second connecting shaft 333, dispersing the stress on the second connecting shaft 333, reducing the material requirements of the second connecting shaft 333, and preventing the third link 331 from detaching and affecting the lifting reliability of the lifting assembly 30. Simultaneously, the ninth link 3313 serves a reinforcing function.

[0074] Specifically, the end of the third link 331 that connects to the load-bearing structure 20 has a fifth sleeve, which is fitted onto the pivot shaft for pivotal connection with the load-bearing structure 20. The end of the third link 331 that connects to the second connecting shaft 333 has a sixth sleeve, which is fitted onto the second connecting shaft 333.

[0075] like Figures 5 to 9 As shown, the present invention also provides an AGV, including a chassis 60 and an AGV lifting mechanism 80. The chassis 60 includes a frame assembly and a swing bridge 63. The swing bridge 63 is swayably mounted on the frame assembly and is located on one side of the frame assembly. The frame assembly includes a front frame 61 and a rear frame 62 pivotally connected. The swing axis of the swing bridge 63 is along the travel direction of the frame assembly. The AGV lifting mechanism 80 is mounted on the chassis 60. The AGV lifting mechanism 80 is the AGV lifting mechanism described above.

[0076] Specifically, the chassis 60 is arranged in three sections, namely the front frame 61, the rear frame 62 and the swing axle 63. This arrangement allows the chassis 60 to swing in the left and right directions and in the front and back directions to adapt to bumpy road conditions.

[0077] like Figure 8 As shown, the chassis 60 also includes a pivot 67, and the swing bridge 63 is sleeved on the pivot 67 and can rotate relative to the pivot 67.

[0078] like Figure 7 As shown, one of the front frame 61 and the rear frame 62 has a mounting protrusion 64, and the other of the front frame 61 and the rear frame 62 has a mounting recess 65. The mounting protrusion 64 extends into the mounting recess 65 and is pivotally connected to the mounting recess 65 to connect the front frame 61 and the rear frame 62. In this way, the above arrangement increases the contact area between the front frame 61 and the rear frame 62, thereby improving the connection stability between the two and preventing them from detaching and affecting the structural stability of the chassis 60.

[0079] Specifically, the front frame 61 has a mounting protrusion 64, and the rear frame 62 has a mounting recess 65.

[0080] like Figure 7 As shown, a stop structure 66 is provided between the front frame 61 and the rear frame 62. During the swinging process of the front frame 61 and / or the rear frame 62, the stop structure 66 is used to limit and stop the front frame 61 and / or the rear frame 62. In this way, when the chassis 60 swings in the front and rear directions, the stop structure 66 is used to limit and stop the front frame 61 and / or the rear frame 62 to prevent the chassis 60 from swinging excessively and affecting the structural stability of other parts mounted on it.

[0081] Optionally, there is one stop structure 66; or there are multiple stop structures 66, with the multiple stop structures 66 being perpendicular to the travel direction of the frame assembly.

[0082] In this embodiment, there are two stop structures 66, which reduces the processing cost of the stop structures 66.

[0083] like Figures 7 to 9As shown, the AGV also includes a drive wheel 71, a driven wheel 72, and a drive wheel drive device 73. The drive wheel 71 is rotatably mounted on the swing bridge 63, and the driven wheel 72 is rotatably mounted on the frame assembly. The drive wheel 71 is connected to the driven wheel 72 to drive the driven wheel 72 to rotate. The drive wheel drive device 73 is driven by the drive wheel 71 to drive the drive wheel 71 to rotate. A portion of the drive wheel drive device 73 is embedded in the swing bridge 63, and another portion is mounted on the front frame 61 or the rear frame 62.

[0084] Specifically, the swing bridge 63 has a receiving recess, and a portion of the drive wheel drive device 73 is embedded in the receiving recess.

[0085] Example 2

[0086] The difference between the AGV lifting mechanism in Embodiment 2 and Embodiment 1 is that the connection method of the second driven component 33 is different.

[0087] like Figure 10 As shown, the second driven component 33 is pivotally connected to the base 10, and the guide structure 40 is disposed on the load-bearing structure 20. The second driven component 33 includes a third link 331, a fourth link 332, and a second connecting shaft 333. The third link 331 is pivotally connected to the base 10. The first end of the fourth link 332 is rotatably sleeved on the first connecting shaft 323, and the second ends of the third link 331 and the fourth link 332 are rotatably sleeved on the second connecting shaft 333. At least a portion of the second connecting shaft 333 cooperates with the guide portion 41. The third link 331 and the first link 321 are arranged parallel to each other, and the extension direction of the fourth link 332 is parallel to the base 10.

[0088] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0089] The AGV lifting mechanism includes a base, a load-bearing structure, a lifting assembly, and a guide structure. The lifting assembly includes a driving component, a first driven component, and a second driven component. The driving component is connected to the second driven component via the first driven component. The first driven component is pivotally connected to both the base and the load-bearing structure. At least a portion of the second driven component is pivotally connected to the load-bearing structure. The guide structure is mounted on the base and has a guide portion. At least a portion of the second driven component cooperates with the guide portion to guide the second driven component. The first driven component is pivotally connected to both the base and the load-bearing structure. A portion of the second driven component is pivotally connected to the load-bearing structure, and a portion cooperates with the guide portion, simplifying the structure of the lifting assembly and making it easier to manufacture and implement. Thus, when it is necessary to lift a load placed on the load-bearing structure, pushing or pulling the driving component moves the first driven component, which simultaneously moves the second driven component, thereby synchronously driving the load-bearing structure and the load to move up and down.

[0090] Compared with existing lifting mechanisms, the lifting component in this invention has a simpler structure, is easier to manufacture and implement, thereby reducing the manufacturing cost and assembly / disassembly difficulty of the lifting component, and solving the problems of high cost and complex structure of existing lifting mechanisms. Simultaneously, during the lifting process where the lifting component drives the load-bearing structure and load to rise and fall, the guide structure guides the lifting direction of the second driven component, further improving the lifting stability of the load-bearing structure. Currently, AGVs require small overall size, low manufacturing cost, and high load capacity. The structure adopted in this invention can effectively reduce the overall size, facilitating vehicle layout; synchronous lifting is achieved through a combination of connecting rods and slides; when the vehicle lifting structure is subjected to external torsional forces, internal stress can be released through the slide gaps, reducing the precision requirements for related components and thus lowering costs.

[0091] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0092] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0093] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0094] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An AGV lifting mechanism, characterized in that, include: Base (10); The load-bearing structure (20) is located above the base (10); A lifting assembly (30) is located between the base (10) and the load-bearing structure (20). The lifting assembly (30) includes an active component (31), a first driven component (32), and a second driven component (33). The active component (31) is connected to the second driven component (33) through the first driven component (32). The first driven component (32) is pivotally connected to both the base (10) and the load-bearing structure (20). The second driven component (33) is pivotally connected to either the load-bearing structure (20) or the base (10). By pushing or pulling the active component (31), the first driven component (32) and the second driven component (33) are moved, thereby driving the load-bearing structure (20) to perform lifting and lowering movements. A guide structure (40) is disposed on the base (10) or the load-bearing structure (20) and has a guide portion (41) that cooperates with at least a portion of the second driven component (33) to guide the second driven component (33).

2. The AGV lifting mechanism according to claim 1, characterized in that, The AGV lifting mechanism also includes: The limiting structure (50) includes a limiting protrusion (51) and a limiting recess (52). One of the limiting protrusion (51) and the limiting recess (52) is disposed on the base (10), and the other of the limiting protrusion (51) and the limiting recess (52) is disposed on the load-bearing structure (20). The limiting protrusion (51) extends into the limiting recess (52) and can move along the extending direction of the limiting recess (52). The extending direction of the limiting recess (52) is consistent with the lifting direction of the load-bearing structure (20).

3. The AGV lifting mechanism according to claim 2, characterized in that, The limiting structure (50) also includes: The first mounting part (53) is provided with the limiting recess (52) on the first mounting part (53); The second mounting part (54) is provided with the limiting protrusion (51) on the second mounting part (54); One of the first mounting part (53) and the second mounting part (54) is disposed on the load-bearing structure (20), and one of the first mounting part (53) and the second mounting part (54) is disposed on the base (10). At least a portion of the first mounting part (53) and the second mounting part (54) are disposed opposite to each other.

4. The AGV lifting mechanism according to claim 1, characterized in that, The first driven component (32) includes: The first link (321) is pivotally connected to the load-bearing structure (20); The second link (322) is pivotally connected to the base (10); The first connecting shaft (323), the first connecting rod (321) and the second connecting rod (322) are rotatably sleeved on the first connecting shaft (323), and the driving member (31) is pivotally connected to the first connecting shaft (323).

5. The AGV lifting mechanism according to claim 4, characterized in that, The second driven component (33) includes: The third link (331) is pivotally connected to the load-bearing structure (20); The fourth link (332) has its first end rotatably sleeved on the first connecting shaft (323); The second connecting shaft (333) is rotatably sleeved on the second connecting shaft (333) at the second end of the third connecting rod (331) and the fourth connecting rod (332), and at least a portion of the second connecting shaft (333) cooperates with the guide part (41); The third link (331) is arranged parallel to the first link (321), and the extension direction of the fourth link (332) is arranged parallel to the load-bearing surface of the load-bearing structure (20).

6. The AGV lifting mechanism according to claim 4, characterized in that, The second driven component (33) includes: The third link (331) is pivotally connected to the base (10); The fourth link (332) has its first end rotatably sleeved on the first connecting shaft (323); The second connecting shaft (333) is rotatably sleeved on the second connecting shaft (333) at the second end of the third connecting rod (331) and the fourth connecting rod (332), and at least a portion of the second connecting shaft (333) cooperates with the guide part (41); The third link (331) is arranged parallel to the first link (321), and the extension direction of the fourth link (332) is parallel to the base (10).

7. The AGV lifting mechanism according to claim 5 or 6, characterized in that, The guide structure (40) includes two guide portions (41) arranged opposite to each other. Each guide portion (41) is concave. The two ends of the second connecting shaft (333) extend into the two guide portions (41) respectively to slide along the extension direction of the guide portion (41).

8. The AGV lifting mechanism according to claim 4, characterized in that, The first link (321) includes: Two first rods (3211) are arranged opposite to each other, one end of each first rod (3211) is pivotally connected to the load-bearing structure (20), and the other end is sleeved on the first connecting shaft (323); The second rod (3212) has two ends connected to the two first rods (3211) respectively; A third rod (3213), one end of which is connected to the second rod (3212), and the other end of which is sleeved on the first connecting shaft (323); and / or, The second link (322) includes: Two opposing fourth rods (3221) are arranged such that one end of each fourth rod (3221) is pivotally connected to the base (10), and the other end is sleeved on the first connecting shaft (323); The fifth rod (3222) has its two ends connected to the two fourth rods (3221) respectively; The sixth rod (3223) has one end connected to the fifth rod (3222) and the other end sleeved on the first connecting shaft (323).

9. An AGV, characterized in that, include: A chassis (60) includes a frame assembly and a swing axle (63), the swing axle (63) being pivotally mounted on the frame assembly and located on one side of the frame assembly, the frame assembly including a pivotally connected front frame (61) and a rear frame (62); the swing axis of the swing axle (63) is along the travel direction of the frame assembly; An AGV lifting mechanism (80) is mounted on the chassis (60); The AGV lifting mechanism (80) is the AGV lifting mechanism according to any one of claims 1 to 8.

10. The AGV according to claim 9, characterized in that, One of the front frame (61) and the rear frame (62) has a mounting protrusion (64), and the other of the front frame (61) and the rear frame (62) has a mounting recess (65). The mounting protrusion (64) extends into the mounting recess (65) and is pivotally connected to the mounting recess (65) to connect the front frame (61) and the rear frame (62).

11. The AGV according to claim 9, characterized in that, A stop structure (66) is provided between the front frame (61) and the rear frame (62). During the swinging process of the front frame (61) and / or the rear frame (62), the stop structure (66) is used to limit and stop the front frame (61) and / or the rear frame (62).

12. The AGV according to claim 9, characterized in that, The AGV also includes: The drive wheel (71) is rotatably mounted on the swing bridge (63); Driven wheel (72) is rotatably mounted on the frame assembly, and driven wheel (71) is connected to driven wheel (72) to drive driven wheel (72) to rotate; An active wheel drive device (73) is connected to the active wheel (71) to drive the active wheel (71) to rotate. A portion of the active wheel drive device (73) is embedded in the swing bridge (63).

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