Multi-power lifting system and guide transport vehicle

Abstract

The embodiment of the invention provides a multi-power lifting system and a guide transport vehicle. The lifting system comprises a motor driving mechanism, an auxiliary driving mechanism, a lifting mechanism and a fork body mechanism. The lifting mechanism comprises two lifting supports which are oppositely arranged, and the two lifting supports are each provided with a height adjusting component; a main driving connecting rod is further arranged between the bottoms of the two lifting supports, and the two ends of the main driving connecting rod are connected with the height adjusting components of the two lifting supports respectively. Two sliding blocks are arranged on the main driving connecting rod; the motor driving mechanism drives the two sliding blocks to slide between the two lifting supports along the main driving connecting rod, so that the height adjusting component drives the fork body mechanism to move up and down along the lifting supports; the auxiliary driving mechanism comprises at least two elastic driving mechanisms; the driving end of each elastic driving mechanism is also fixedly connected with one sliding block on the main driving connecting rod; and the elastic driving piece is used for providing auxiliary driving force for the two sliding blocks in the process of lifting the fork body mechanism.

Description

Technical Field

[0001] The present application relates to the field of multi-power lifting technology, and in particular to a multi-power lifting system and a guided transport vehicle. Background Art

[0002] AGV (Automated Guided Vehicle) is a transport vehicle equipped with an electromagnetic or optical automatic guidance device, capable of traveling along a prescribed guidance path, with safety protection and various transfer functions. It belongs to the category of WMR (Wheeled Mobile Robot).

[0003] AGV generally includes a lifting system to lift goods to different heights. The lifting system mainly includes a lifting mechanism and a driving mechanism. In related technologies, the driving mechanism is mostly a combination of a motor and a cylinder or a motor and a hydraulic cylinder. However, for a driving mechanism using a motor and a cylinder, the cylinder is used as a power source and its rated load is usually small; while a driving mechanism using a motor and a hydraulic cylinder requires coordinated control by multiple motors, which is prone to the problem of poor coordination among multiple motors. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a multi-power lifting system and a guided transport vehicle to increase the rated load of the lifting system and avoid the problem of poor coordination caused by multi-motor control. The specific technical solution is as follows:

[0005] The embodiment of the first aspect of the present application proposes a multi-power lifting system, including: a motor drive mechanism, an auxiliary drive mechanism, a lifting mechanism and a fork mechanism; the lifting mechanism includes two lifting brackets arranged opposite to each other, the two lifting brackets are both provided with a height adjustment component, and the fork mechanism is suspended between the two lifting brackets through the height adjustment components of the two lifting brackets; a main driving connecting rod is also arranged between the bottoms of the two lifting brackets, and the two ends of the main driving connecting rod are respectively connected to the height adjustment components of the two lifting brackets; two sliders are arranged on the main driving connecting rod; the motor drive mechanism is arranged on the main driving connecting rod to drive the two sliders to move between the two lifting brackets The lifting brackets slide along the main driving connecting rod, so that the height adjustment component drives the fork body mechanism to move in the up and down directions along the lifting bracket; the auxiliary driving mechanism is arranged on the same plane as the main driving connecting rod, and the auxiliary driving mechanism includes at least two elastic driving mechanisms; each of the elastic driving mechanisms includes at least one elastic driving member and a driving end respectively connected to the elastic driving member; the driving end of each elastic driving mechanism is also fixedly connected to a slider on the main driving connecting rod; the elastic driving member is used to provide auxiliary driving force for the two sliders during the process in which the motor driving mechanism drives the two sliders to slide along the main driving connecting rod to lift the fork body mechanism.

[0006] In some embodiments of the present application, there are four elastic drive mechanisms, which are symmetrically arranged on both sides of the main drive connecting rod; wherein the driving ends of two symmetrically arranged first elastic drive mechanisms and second elastic drive mechanisms are fixedly connected to the first slider on the main drive connecting rod; the driving ends of the other two symmetrically arranged third elastic drive mechanisms and fourth elastic drive mechanisms are fixedly connected to the second slider on the main drive connecting rod.

[0007] In some embodiments of the present application, each of the elastic drive mechanisms comprises: an auxiliary drive link, a first spring and a second spring, and the first spring and the second spring respectively have a fixed end and a movable end; wherein the first spring is arranged in parallel with the main drive link, and the second spring is arranged perpendicular to the main drive link; the fixed end of the first spring is arranged close to the center of the main drive link; the fixed end of the second spring is arranged away from the center of the main drive link; the movable ends of the first spring and the second spring are movably connected to the two ends of the auxiliary drive link through a connecting block respectively; wherein the first connecting block located at the movable end of the first spring is fixedly connected to the first slider or the second slider of the main drive link, so that the first connecting block forms the driving end of the elastic drive mechanism; the second connecting block located at the movable end of the second spring is fixedly connected to the second connecting block of another elastic drive mechanism located on the same side of the main drive link.

[0008] In some embodiments of the present application, each of the elastic drive mechanisms further includes: a first slide rail and a second slide rail; the first slide rail is arranged parallel to the main drive connecting rod, and the second slide rail is arranged perpendicular to the main drive connecting rod; the first spring is arranged on the first slide rail, and the first connecting block at the movable end of the first spring can slide on the first slide rail; the second spring is arranged on the second slide rail, and the second connecting block at the movable end of the second spring can slide on the second slide rail.

[0009] In some embodiments of the present application, the driving end of each of the elastic drive mechanisms is fixedly connected to the first slider or the second slider via a first rectangular connecting frame; the second connecting blocks of the two elastic drive mechanisms located on the same side of the main drive connecting rod are fixedly connected via a second rectangular connecting frame.

[0010] In some embodiments of the present application, the height adjustment component of each lifting bracket includes: a first sprocket arranged at the bottom of the lifting bracket, a second sprocket arranged at the top of the lifting bracket, and a chain spanned between the first sprocket and the second sprocket; the fork body mechanism is suspended on the chain and moves up and down with the rotation of the chain; the two ends of the main drive connecting rod are respectively rotatably connected to the first sprockets of the two height adjustment components; the motor drive mechanism drives the main drive connecting rod to rotate, so as to drive the first sprocket to rotate.

[0011] In some embodiments of the present application, the main drive connecting rod comprises: a power input shaft arranged in the middle position, and two lead screws arranged at both ends of the power input shaft; the first ends of the two lead screws are fixedly connected to the power input shaft, and the second ends of the two lead screws are respectively rotatably connected to the first sprockets of the two height adjustment components; the two sliding blocks arranged on the main drive connecting rod are respectively arranged on the two lead screws and are slidably connected to the two lead screws; the power input shaft rotates when driven by the motor drive mechanism, driving the two lead screws to rotate, so that the two sliding blocks slide between the two lifting brackets.

[0012] In some embodiments of the present application, the motor drive mechanism includes a motor, a first drive gear arranged on the motor rotating shaft, and a second drive gear arranged on the power input shaft; the first drive gear and the second drive gear are meshed; the motor drives the motor rotating shaft to rotate, thereby driving the power input shaft to rotate.

[0013] In some embodiments of the present application, the motor is fixed above the power input shaft through a motor base; the motor base includes: a base plate and a mounting vertical plate connected to each other; the mounting vertical plate has a motor rotating shaft mounting hole and a power input shaft mounting hole arranged up and down; the motor rotating shaft passes through the motor rotating shaft mounting hole, and the power input shaft passes through the power input shaft mounting hole, so that the motor is installed above the power input shaft, located on one side of the mounting vertical plate, and the first drive gear and the second drive gear are installed on the other side of the mounting vertical plate.

[0014] In some embodiments of the present application, the two sliders are respectively: screw nuts sleeved on the two screws; the threads of the two screws have opposite rotation directions.

[0015] An embodiment of the second aspect of the present application provides a guided transport vehicle, comprising a chassis and the multi-power lifting system described in any embodiment of the first aspect, wherein the multi-power lifting system is installed on the chassis.

[0016] Beneficial effects of the embodiments of the present application:

[0017] The embodiment of the present application provides such a multi-power lifting system and guided transport vehicle, which adopts an elastic drive mechanism as an additional power output of the lifting system. The elastic drive member of the elastic drive mechanism can provide a constant force for auxiliary driving to the two sliders through the driving end during the process of lifting the fork body mechanism, thereby reducing the fluctuation of the output power of the motor drive mechanism, and through the auxiliary driving force, the rated load of the lifting system is increased when the power of the motor drive mechanism itself is limited. In addition, since the multi-power lifting system and guided transport vehicle of the present application only adopt one motor drive mechanism, there is no need for the coordination of multiple motors, so there will be no problem of poor coordination between multiple motors.

[0018] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0020] Figure 1 A schematic diagram of the three-dimensional structure of a multi-power lifting system provided in an embodiment of the present application;

[0021] Figure 2 for Figure 1 An exploded schematic diagram of the multi-power lifting system shown;

[0022] Figure 3 for Figure 1 A partial schematic diagram of the connection between the elastic drive mechanism and the main drive connecting rod in the multi-power lifting system shown;

[0023] Figure 4 for Figure 1 A partial schematic diagram of the connection of two elastic drive mechanisms on the same side of the main drive connecting rod in the multi-power lifting system shown;

[0024] Figure 5 for Figure 1 A top view of the multi-power lifting system when the auxiliary drive mechanism is in a non-power storage state (when the fork body mechanism is in the highest position);

[0025] Figure 6 for Figure 5 The force analysis diagram of the first elastic driving mechanism in the multi-power lifting system shown;

[0026] Figure 7 for Figure 1 A top view of the multi-power lifting system when the auxiliary drive mechanism is in a compressed state (when the fork mechanism is in the lowest position);

[0027] Figure 8 for Figure 7 The force analysis diagram of the first elastic driving mechanism in the multi-power lifting system shown;

[0028] Fig. 9 for Figure 1 A partial schematic diagram of the connection between the lead screw and the first sprocket in the multi-power lifting system shown;

[0029] Fig.10 for Figure 1 A structural diagram showing an angle of connection between the motor drive mechanism and the power input shaft in the multi-power lifting system;

[0030] Fig.11 for Figure 1 A structural diagram showing another angle of connection between the motor drive mechanism and the power input shaft in the multi-power lifting system;

[0031] Fig.12 For installation Figure 1 A schematic diagram of the three-dimensional structure of the guided transport vehicle of the multi-power lifting system is shown.

[0032] Description of reference numerals:

[0033] Multi-power lifting system 100;

[0034] Motor drive mechanism 110; motor 111; motor rotating shaft 112; first driving gear 113; second driving gear 114; motor seat 115; bottom plate 1151; mounting vertical plate 1152; motor rotating shaft mounting hole 1153; power input shaft mounting hole 1154;

[0035] Auxiliary drive mechanism 120; first elastic drive mechanism 121a; second elastic drive mechanism 121b; third elastic drive mechanism 121c; fourth elastic drive mechanism 121d; auxiliary drive connecting rod 122; first spring 123; first spring fixed end 1231; first spring movable end 1232; second spring 124; second spring fixed end 1241; second spring movable end 1242; first slide rail 125a; second slide rail 125b; slide rod 1251; first connecting block 126a; second connecting block 126b; first rectangular connecting frame 127; second rectangular connecting frame 128;

[0036] Lifting mechanism 130; lifting bracket 131; top mounting plate 1311; bottom mounting plate 1312; connecting plate 1313; height adjustment component 132; first sprocket 1321; second sprocket 1322; chain 1323;

[0037] Fork mechanism 140; support frame 141; first support rod 1411; second support rod 1412; cargo platform 142;

[0038] Main driving connecting rod 150; power input shaft 151; mounting groove 1511; lead screw 152; first end 1521 of the lead screw; second end 1522 of the lead screw;

[0039] A first slider 160; a second slider 170;

[0040] Chassis 200; Travel wheels 210. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0042] As mentioned in the background technology, in the related technology, the lifting system mainly includes a lifting mechanism and a driving mechanism. The driving mechanism is mostly a combination of a motor and a cylinder or a motor and a hydraulic cylinder. In the driving mechanism using a motor and a cylinder, the cylinder is used as a power source, and its rated load is usually small; while the driving mechanism using a motor and a hydraulic cylinder needs to be controlled by multiple motors in a coordinated manner, which is prone to the problem of poor coordination of multiple motors.

[0043] In view of this, the embodiment of the first aspect of the present application provides a multi-power lifting system. Figure 1 and Figure 2 , Figure 1 A schematic diagram of the three-dimensional structure of a multi-power lifting system 100 provided in an embodiment of the present application; Figure 2 A schematic diagram of an exploded view of a multi-power lifting system 100 provided in an embodiment of the present application.

[0044] like Figure 1 and Figure 2 As shown, the multi-power lifting system 100 provided by the embodiment of the first aspect of the present application includes a motor drive mechanism 110, an auxiliary drive mechanism 120, a lifting mechanism 130 and a fork mechanism 140. The lifting mechanism 130 includes two lifting brackets 131 arranged opposite to each other, and the two lifting brackets 131 are both provided with a height adjustment component 132. The fork mechanism 140 is suspended between the two lifting brackets 131 through the height adjustment components 132 of the two lifting brackets 131; a main driving connecting rod 150 is also arranged between the bottoms of the two lifting brackets 131, and the two ends of the main driving connecting rod 150 are respectively connected to the height adjustment components 132 of the two lifting brackets 131; two sliders are arranged on the main driving connecting rod 150; the motor drive mechanism 110 is arranged on the main driving connecting rod 150, and drives the two sliders to move between the two lifting brackets 131 along the main driving connecting rod 15 0 slides, so that the height adjustment component 132 drives the fork body mechanism 140 to move up and down along the lifting bracket 131; the auxiliary driving mechanism 120 and the main driving connecting rod 150 are arranged on the same plane, and the auxiliary driving mechanism 120 includes at least two elastic driving mechanisms; each elastic driving mechanism includes at least one elastic driving member and a driving end respectively connected to the elastic driving member; the driving end of each elastic driving mechanism is also fixedly connected to a slider on the main driving connecting rod 150; the elastic driving member is used to provide auxiliary driving force for the two sliders in the process in which the motor driving mechanism drives the two sliders to slide along the main driving connecting rod to lift the fork body mechanism.

[0045] The embodiment of the present application provides such a multi-power lifting system, which uses an elastic drive mechanism as an additional power output of the lifting system. The elastic drive member of the elastic drive mechanism can provide a constant force for auxiliary driving to the two sliders through the driving end during the lifting of the fork body mechanism, thereby reducing the fluctuation of the output power of the motor drive mechanism, and through the auxiliary driving force, the rated load of the lifting system is increased when the power of the motor drive mechanism itself is limited. In addition, since the multi-power lifting system and guided transport vehicle of the present application only use one motor drive mechanism and do not require the coordination of multiple motors, common problems such as poor coordination between multiple motors and internal force confrontation between motors will not occur.

[0046] It can be seen that the embodiments of the present application are more suitable for lifting system scenarios where high-power motors or multiple motors cannot be used.

[0047] In some embodiments of the present application, Figure 1 and Figure 2 As shown, the number of elastic drive mechanisms can be four, which are symmetrically arranged on both sides of the main drive connecting rod 150; wherein, the driving ends of the two symmetrically arranged first elastic drive mechanisms 121a and the second elastic drive mechanisms 121b are fixedly connected to the first slider 160 on the main drive connecting rod 150; the driving ends of the other two symmetrically arranged third elastic drive mechanisms 121c and the fourth elastic drive mechanisms 121d are fixedly connected to the second slider 170 on the main drive connecting rod 150.

[0048] By applying the embodiments of the present application, the driving ends of the first elastic driving mechanism 121a and the second elastic driving mechanism 121b are fixedly connected to the first slider 160, and jointly provide auxiliary driving force for the first slider 160; the driving ends of the third elastic driving mechanism 121c and the fourth elastic driving mechanism 121d are fixedly connected to the second slider 170, and jointly provide auxiliary driving force for the second slider 170, thereby increasing the rated output of the auxiliary driving mechanism 120.

[0049] In some embodiments of the present application, Figure 2 and Figure 5 As shown, each elastic drive mechanism includes: an auxiliary drive link 122, a first spring 123 and a second spring 124, and the first spring 123 and the second spring 124 have a fixed end and a movable end respectively; the first spring 123 is arranged parallel to the main drive link 150, and the second spring 124 is arranged perpendicular to the main drive link 150; the first spring fixed end 1231 is arranged close to the center of the main drive link 150; the second spring fixed end 1241 is arranged away from the center of the main drive link 150; the first spring 123 and the second spring 124 are arranged parallel to the main drive link 150, and the second spring 124 is arranged perpendicular to the main drive link 150; the first spring 123 and the second spring 124 are arranged parallel to the main drive link 150, and the second spring 124 is arranged parallel ...; the first spring 123 and the second spring 124 are arranged parallel to the main drive link 150; the first spring 123 and the second spring 124 are arranged parallel to the main drive link 150; the first spring 123 and the second spring 124 are arranged parallel to the main drive link 150; the The movable ends of 124 are movably connected to the two ends of the auxiliary driving connecting rod 122 through a connecting block respectively; wherein, the first connecting block 126a located at the movable end 1232 of the first spring is fixedly connected to the first slider 160 or the second slider 170 of the main driving connecting rod 150, so that the first connecting block 126a forms the driving end of the elastic driving mechanism; the second connecting block 126b located at the movable end 1242 of the second spring is fixedly connected to the second connecting block 126b of another elastic driving mechanism located on the same side of the main driving connecting rod 150.

[0050] In the elastic drive mechanism of this embodiment, only two mutually perpendicular springs and auxiliary drive connecting rods are used to provide auxiliary driving force for the slider during the process of lifting the fork body mechanism. Compared with the cylinder or hydraulic cylinder used in the related technology, the structure is simpler and easier to implement, and each elastic drive mechanism is actually controlled by a motor of the motor drive mechanism, so the control method is simpler and the control accuracy is higher.

[0051] like Figure 1 and Figure 2 As shown, each elastic force driving mechanism further includes a first slide rail 125a and a second slide rail 125b; the first slide rail 125a is arranged parallel to the main driving connecting rod 150, and the second slide rail 125b is arranged perpendicular to the main driving connecting rod 150; the first spring 123 is arranged on the first slide rail 125a, and the first connecting block 126a of the first spring movable end 1232 can slide on the first slide rail 125a; the second spring 124 is arranged on the second slide rail 125b, and the second connecting block 126b of the second spring movable end 1242 can slide on the second slide rail 125b. Specifically, as Figure 3 and Figure 4 As shown, a slide bar 1251 is disposed above the first slide rail 125a and the second slide rail 125b, and the first connecting block 126a and the second connecting block 126b are sleeved on the slide bar 1251 and slidably connected to the slide bar 1251.

[0052] In this embodiment, by arranging two springs on two slide rails respectively, it is ensured that the relative sliding direction of the two connecting blocks remains unchanged, so that the direction of the auxiliary power provided by the two springs remains unchanged.

[0053] like Figure 3 and Figure 4 As shown, the driving end of each elastic drive mechanism is fixedly connected to the first slider 160 or the second slider 170 via a first rectangular connecting frame 127; the second connecting blocks 126b of the two elastic drive mechanisms located on the same side of the main driving connecting rod 150 are fixedly connected via a second rectangular connecting frame 128.

[0054] In this embodiment, each elastic driving mechanism is fixedly connected to the first slider 160 or the second slider 170 via the first rectangular connecting frame 127; Figure 3 and Figure 4 As shown, the four elastic drive mechanisms are symmetrically arranged relative to the main drive connecting rod 150;

[0055] The two sides of the first slider 160 are fixedly connected to the first connecting blocks 126a of two symmetrically arranged elastic driving mechanisms through a first rectangular connecting frame 127; the two sides of the second slider 170 are fixedly connected to the first connecting blocks 126a of two other symmetrically arranged elastic driving mechanisms through a first rectangular connecting frame 127, thereby ensuring that the two sides of the two sliders are subjected to uniform force.

[0056] Moreover, if Figure 3 and Figure 4 As shown, the second connecting blocks 126b of the two elastic drive mechanisms located on one side of the main drive connecting rod 150 are fixedly connected by a second rectangular connecting frame 128; the second connecting blocks 126b of the two elastic drive mechanisms located on the other side of the main drive connecting rod 150 are fixedly connected by a second rectangular connecting frame 128; this ensures that the auxiliary forces applied to the first slider 160 and the second slider 170 by the two elastic drive mechanisms on the same side of the main drive connecting rod 150 are of the same magnitude.

[0057] The working principle of the elastic drive mechanism is described in detail below.

[0058] Specifically, the elastic force driving mechanism can provide a constant force to the slider in a compressed state. Figure 1 As shown, during the rising process of the fork body mechanism 140, the first spring 123 and the second spring 124 release the elastic force of the elastic drive mechanism, driving the two ends of the auxiliary drive connecting rod 122 to slide along the first slide rail 125a and the second slide rail 125b respectively, converting the spring energy storage into an axial constant force acting on the two sliders, so that the two sliders move toward the direction close to the two lifting brackets 131.

[0059] During the descent of the fork mechanism 140 , the motor 111 drives the slider to move away from the two lifting brackets 131 . When the slider moves, it compresses the first spring 123 and drives the auxiliary driving link 122 to compress the second spring 124 , completing the energy storage of the two springs.

[0060] First, the elastic drive mechanism is in the uncharged state, that is, Figure 1 The description will be made of a situation in which the fork mechanism 140 of the multi-power lifting system 100 is raised to the highest position.

[0061] See also Figure 5 , Figure 5 for Figure 1The top view of the multi-power lifting system 100 is shown when the auxiliary drive mechanism 120 is in a non-powered state (when the fork mechanism 140 is in the highest position). The two lifting brackets 131 are also provided with a top mounting plate 1311, and the spring of the elastic drive mechanism is in a non-powered state. At this time, the first slider 160 and the second slider 170 move to the position closest to the lifting bracket 131 (the sliders are blocked by the top mounting plate 1311 of the lifting bracket 131 in the figure), and the fork mechanism 140 (not shown) is in the highest position.

[0062] The following is a force analysis using the first elastic force driving mechanism 121a as an example. Figure 6 , Figure 6 This is a force analysis diagram of the first elastic drive mechanism 121a in the uncharged state. A rectangular coordinate system is established with the position of the second connecting block 126b of the second spring movable end 1242 as the coordinate origin. The positive direction of the X-axis is right, which is the same as the driving direction of the first connecting block 126a, and the positive direction of the Y-axis is downward, which is opposite to the driving direction of the second connecting block 126b. Assume that the length of the auxiliary drive link 122 is l3, the center of the first connecting block 126a is A2 (here, in order to make the schematic diagram clearly show that the auxiliary drive link 122 is parallel to the first spring 123 in the ideal state, the first spring 123 and the first connecting block 126a are translated upward, and the actual center of the first connecting block 126a is at A2), and the center of the second connecting block 126b is B2. In the initial state, the coordinates of the first connecting block 126a are (l3,0), and the coordinates of the second connecting block 126b are (0,0). Further, That is, the magnitude of the moment at the first connection block 126a is l3, and the magnitude of the moment at the second connection block 126b is 0.

[0063] Next, the elastic driving mechanism is in a compressed state, that is, the fork mechanism 140 is lowered to the lowest position.

[0064] See also Figure 7 , Figure 7 for Figure 1 The top view of the multi-power lifting system 100 when the auxiliary driving mechanism 120 is in a compressed state (when the fork mechanism 140 is in the lowest position). The spring of the elastic driving mechanism is in a compressed state, at which time the first slider 160 and the second slider 170 move to the position farthest from the lifting bracket 131, and the fork mechanism 140 (not shown) is in the lowest position.

[0065] The following is a force analysis using the first elastic force driving mechanism 121a as an example. Figure 8 , Figure 8 is a force analysis diagram of the first elastic driving mechanism 121a in the compressed state. Compared with the unforced state, it can be regarded as the first connecting block 126a under the horizontal constant force F eThe auxiliary driving link 122 moves in the negative direction of the X-axis, and at the same time, the auxiliary driving link 122 drives the second connecting block 126b to move in the positive direction of the Y-axis. Assuming that the angle between the auxiliary driving link 122 and the X-axis is θ, the constant force acting on the first connecting block 126a is F en , the center of the first connecting block 126a is A1, and the center of the second connecting block 126b is B1. In this state, the coordinates of the first connecting block 126a are (l3cosθ, 0), and the coordinates of the second connecting block 126b are (0, l3sinθ).

[0066] Assuming the stiffness of the second spring 124 is K2, the force exerted by the second spring 124 on the second connecting block 126b can be calculated:

[0067]

[0068] Assuming the stiffness of the first spring 123 is K1, the force of the first spring 123 acting on the first connecting block 126a is:

[0069]

[0070] According to the virtual displacement principle, the work done by the first elastic driving mechanism 121a at any time is represented by δW, which is expressed as:

[0071] δW=-F en δX+F kx1 δX-F kx2 δY (3)

[0072] From the geometric relationship of vectors in the coordinate system XOY, we can get:

[0073]

[0074] set up Then there is the expression:

[0075]

[0076] Then we can calculate:

[0077]

[0078] Substituting expressions (1), (2), and (6) into (3), δW can be expressed as:

[0079]

[0080] The first elastic driving mechanism 121a is subjected to a constant force F en When equilibrium is reached, the overall work done is zero, that is, δW = 0, and the constant force F can be calculated. en The expression is:

[0081] F en =K1l3+K1l3cosθ-K2l3cosθ (8)

[0082] The first spring 123 and the second spring 124 have the same stiffness, that is, K1 = K2 = K. At this time, the constant force F en Proportional to the length l3 of the auxiliary drive connecting rod 122, F en It can be expressed as:

[0083] F en =Kl3 (9)

[0084] The elastic drive mechanism of the present application is the reverse use of the above principle, that is, when the fork body mechanism 140 is in the lowest position, the first spring 123 and the second spring 124 are in a compressed state, completing the energy storage of the elastic drive mechanism. During the lifting process of the fork body mechanism 140, the first spring 123 and the second spring 124 convert the elastic stored energy into constant force output. Therefore, the elastic drive mechanism can also be called a constant force connecting rod mechanism.

[0085] In practical applications, the rated torque T3 that each elastic drive mechanism needs to provide can be calculated based on the rated load of the multi-power lifting system 100, that is, the rated torque T0 required for the multi-power lifting system 100 to lift heavy objects and the rated torque T1 output by the motor. Specifically, the total rated torque T2 that all elastic drive mechanisms need to provide is T0-T1. When the number of elastic drive mechanisms is N, the rated torque that each elastic drive mechanism needs to provide is In the embodiment of the present application, N=4, so the rated torque that each elastic drive mechanism needs to provide is

[0086] By applying the embodiment of the present application, when the power of the motor 111 is limited, the elastic drive mechanism provides additional constant force output, thereby increasing the overall rated load of the lifting mechanism 130 and reducing the fluctuation of the output power of the motor 111 .

[0087] In some embodiments of the present application, Figure 2 As shown, the height adjustment component 132 of each lifting bracket 131 includes a first sprocket 1321 arranged at the bottom of the lifting bracket 131, a second sprocket 1322 arranged at the top of the lifting bracket 131, and a chain 1323 spanned between the first sprocket 1321 and the second sprocket 1322; the fork body mechanism 140 is suspended on the chain 1323 and moves up and down with the rotation of the chain 1323; the two ends of the main driving connecting rod 150 are respectively rotatably connected to the first sprockets 1321 of the two height adjusting components 132; the motor driving mechanism 110 drives the main driving connecting rod 150 to rotate, so as to drive the first sprocket 1321 to rotate.

[0088] In the embodiment of the present application, the fork mechanism 140 is mainly used for carrying cargo. Figure 1 and Figure 2 As shown, the fork mechanism 140 may include a support frame 141 and a cargo platform 142. The support frame 141 includes: two first support rods 1411 parallel to each other and two second support rods 1412 perpendicular to the two first support rods 1411, and the cargo platform 142 is arranged on the lower first support rods 1411. Figure 1 and Figure 2 As shown, two ends of the two first support rods 1411 are respectively threadedly connected to two ends of the chains 1323 on the two lifting brackets 131 .

[0089] In some embodiments of the present application, Figure 2 , Figure 7 and Fig. 9 As shown, the main driving connecting rod 150 includes a power input shaft 151 arranged in the middle position, and two lead screws 152 arranged at both ends of the power input shaft 151; the first ends 1521 of the two lead screws are fixedly connected to the power input shaft 151, and the second ends 1522 of the two lead screws are respectively rotatably connected to the first sprockets 1321 of the two height adjustment components 132; the two sliders arranged on the main driving connecting rod 150 are respectively arranged on the two lead screws 152 and are slidably connected to the two lead screws 152; the power input shaft 151 rotates under the drive of the motor drive mechanism 110, driving the two lead screws 152 to rotate, so that the two sliders slide between the two lifting brackets 131. The two sliders are respectively lead screw nuts sleeved on the two lead screws 152; the thread rotation directions of the two lead screws 152 are opposite.

[0090] Specifically, Fig. 9 As shown, the two lifting brackets 131 are also provided with a bottom mounting plate 1312, and the second end 1522 of the lead screw passes through the through hole on the bottom mounting plate 1312 and is rotatably connected to the first sprocket 1321. The lead screw 152 drives the first sprocket 1321 to rotate, thereby driving the chain 1323 to rotate on the first sprocket 1321 and the second sprocket 1322. Among them, the lead screw 152 can be a ball screw, etc., and this application does not limit this.

[0091] In this embodiment, the threads of the two lead screws 152 have opposite rotation directions in order to make the torques transmitted to the two first sprockets 1321 have the same direction, thereby driving the two height adjustment components 132 to lift the fork body mechanism 140 .

[0092] In this embodiment, the elastic drive mechanism can convert the output constant force into torque on the first sprocket 1321 through the screw 152. This process is the reverse transmission of the screw, which converts the linear motion into rotary motion. The screw 152 can be a ball screw. The calculation formula for the reverse transmission of the ball screw is:

[0093] T2=10 -3 ×F e P h η2 / 2π (10)

[0094] Where, T2 is the torque output by the ball screw pair to the power input shaft, N·m;

[0095] F e ——Axial force on the ball screw pair, N;

[0096] P h ——ball screw lead, mm;

[0097] η2——Reverse transmission efficiency.

[0098] Based on formula (10) and the total rated torque T2 that all elastic drive mechanisms need to provide, the constant force F that each elastic drive mechanism needs to output can be calculated: en According to the structural dimensions of the lifting system, the length l3 of the auxiliary driving connecting rod 122 of the elastic driving mechanism and the stiffness K of the first spring 123 and the second spring 124 can be calculated.

[0099] Specifically, the rated torque T0 of the multi-power lifting system input by the working condition and the rated torque T1 of the motor output confirmed by the selection are used to calculate the total rated torque T2 of all elastic drive mechanisms. Then, the total constant force T2 of the elastic drive mechanism acting on the slider along the axial direction of the screw is calculated according to formula (10): Then calculate the constant force that each elastic drive mechanism needs to output Formula (8) and formula (9) are used to calculate and select the length l3 of the auxiliary drive connecting rod 122 and the stiffness K of the first spring 123 and the second spring 124. It should be noted that the value of the torque output by the ball screw pair to the power input shaft and the value of the total rated torque of all elastic drive mechanisms are both T2, and the value of the axial force on the ball screw pair and the value of the total constant force of the elastic drive mechanism acting on the slider along the axial direction of the screw are both F e .

[0100] In some embodiments of the present application, reference Figure 1 , Figure 2 , Figure 3 , Fig.10 and Fig.11 ,in Fig.10 A structural diagram showing an angle at which the motor drive mechanism 110 is connected to the power input shaft 151; Fig.11 This is a structural diagram showing the connection between the motor drive mechanism 110 and the power input shaft 151 from another angle.

[0101] like Figure 2 and Fig.10As shown, the motor drive mechanism 110 includes a motor 111, a first drive gear 113 disposed on the motor rotating shaft 112, and a second drive gear 114 disposed on the power input shaft 151; the first drive gear 113 and the second drive gear 114 are meshed; the motor 111 drives the motor rotating shaft 112 to rotate, thereby driving the power input shaft 151 to rotate. Specifically, the motor 111 can be a servo motor, etc., which is not limited in this application. A mounting groove 1511 is disposed in the middle position of the power input shaft 151, and the second drive gear 114 is clamped on the mounting groove 1511, so that the power input shaft 151 rotates with the rotation of the motor rotating shaft 112, thereby driving the two lead screws 152 at both ends of the power input shaft 151 to rotate, so that the sprocket and chain 1323 on the lifting bracket 131 rotate the lifting fork mechanism 140.

[0102] In some embodiments of the present application, Figure 10-11 As shown, the motor 111 is fixed above the power input shaft 151 through the motor base 115; the motor base 115 includes a bottom plate 1151 and a mounting vertical plate 1152 connected to each other; the mounting vertical plate 1152 has a motor rotating shaft mounting hole 1153 and a power input shaft mounting hole 1154 arranged up and down; the motor rotating shaft 112 passes through the motor rotating shaft mounting hole 1153, and the power input shaft 151 passes through the power input shaft mounting hole 1154, so that the motor 111 is installed above the power input shaft 151, located on one side of the mounting vertical plate 1152, and the first driving gear 113 and the second driving gear 114 are installed on the other side of the mounting vertical plate 1152. The application of the embodiment of the present application enables the motor 111 to be fixed on the power input shaft 151 more simply and conveniently.

[0103] The second aspect of the present application provides a guided transport vehicle, such as Fig.12 As shown, it includes a chassis 200 and a multi-power lifting system 100 of any embodiment of the first aspect, and the multi-power lifting system 100 is installed on the chassis 200. Specifically, the lifting bracket 131, the first slide rail 125a, the second slide rail 125b, the first spring fixing end 1231 and the second spring fixing end 1241 in the embodiment of the first aspect can be directly fixedly connected to the chassis 200.

[0104] Fig.12 The fork mechanism 140 is shown in the figure when it is in the lowest position. Fig.12 As shown, in this state, the first spring 123 and the second spring 124 of each elastic drive mechanism are in a compressed state. During the lifting process of the fork body mechanism 140, the motor drive mechanism 110 provides the main power and the elastic drive mechanism provides the auxiliary power, and the fork body mechanism 140 is lifted under the drive of the two powers.

[0105] The guided transport vehicle of the embodiment of the present application includes the multi-power lifting system 100 of any embodiment of the first aspect. The embodiment of the present application provides such a multi-power lifting system, which adopts an elastic drive mechanism as an additional power output of the lifting system. The elastic drive member of the elastic drive mechanism can provide a constant force for auxiliary driving to the two sliders through the driving end during the process of lifting the fork body mechanism, thereby reducing the fluctuation of the output power of the motor drive mechanism, and through the auxiliary driving force, the rated load of the lifting system is increased when the power of the motor drive mechanism itself is limited. In addition, since the multi-power lifting system and guided transport vehicle of the present application only adopt one motor drive mechanism and do not require the coordination of multiple motors, common problems such as poor coordination between multiple motors and internal force confrontation between motors will not occur, and it is more suitable for lifting system scenarios where high-power motors or multiple motors cannot be used.

[0106] In addition, if Fig.12 As shown, a plurality of running wheels 210 are provided on the chassis 200 , and the guide transport vehicle is driven by the motor 111 to move the running wheels 210 . Fig.12 In the embodiment, a connecting plate 1313 is also set on the top of the two lifting brackets 131 arranged opposite to each other, so that the lifting mechanism is more stable when lifting the fork body mechanism.

[0107] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A multi-power lifting system, characterized in that: include: A motor drive mechanism (110), an auxiliary drive mechanism (120), a lifting mechanism (130) and a fork mechanism (140); The lifting mechanism (130) comprises two lifting brackets (131) arranged opposite to each other, the two lifting brackets (131) are both provided with a height adjustment component (132), and the fork mechanism (140) is suspended between the two lifting brackets (131) via the height adjustment components (132) of the two lifting brackets (131); A main driving connecting rod (150) is also arranged between the bottoms of the two lifting brackets (131), and both ends of the main driving connecting rod (150) are respectively connected to the height adjustment components (132) of the two lifting brackets (131); two sliding blocks (160 / 170) are arranged on the main driving connecting rod (150); The motor drive mechanism (110) is arranged on the main drive connecting rod (150), and drives the two sliders (160 / 170) to slide along the main drive connecting rod (150) between the two lifting brackets (131), so that the height adjustment component (132) drives the fork body mechanism (140) to move in the up and down direction along the lifting bracket (131); The auxiliary drive mechanism (120) is arranged on the same plane as the main drive connecting rod (150), and the auxiliary drive mechanism (120) includes at least two elastic drive mechanisms; each of the elastic drive mechanisms includes at least one elastic drive member and a drive end respectively connected to the elastic drive member; the drive end of each elastic drive mechanism is also fixedly connected to a slider (160 / 170) on the main drive connecting rod; the elastic drive member is used to provide auxiliary driving force for the two sliders (160 / 170) when the motor drive mechanism (110) drives the two sliders (160 / 170) to slide along the main drive connecting rod (150) to lift the fork body mechanism (140).

2. The multi-power lifting system according to claim 1, characterized in that: There are four elastic drive mechanisms, which are symmetrically arranged on both sides of the main drive connecting rod (150); wherein the driving ends of two symmetrically arranged first elastic drive mechanisms (121a) and second elastic drive mechanisms (121b) are fixedly connected to the first slider (160) on the main drive connecting rod (150); and the driving ends of the other two symmetrically arranged third elastic drive mechanisms (121c) and fourth elastic drive mechanisms (121d) are fixedly connected to the second slider (170) on the main drive connecting rod (150).

3. The multi-power lifting system according to claim 2, characterized in that: Each of the elastic force driving mechanisms comprises: an auxiliary driving connecting rod (122), a first spring (123) and a second spring (124), wherein the first spring (123) and the second spring (124) respectively have a fixed end and a movable end; wherein the first spring (123) is arranged in parallel with the main driving connecting rod (150), and the second spring (124) is arranged perpendicular to the main driving connecting rod (150); the fixed end (1231) of the first spring is arranged close to the center of the main driving connecting rod (150); and the fixed end (1241) of the second spring is arranged away from the center of the main driving connecting rod (150); The first spring movable end (1232) and the second spring movable end (1242) are respectively movably connected to the two ends of the auxiliary driving connecting rod (122) through a connecting block; wherein the first connecting block (126a) located at the first spring movable end (1232) is fixedly connected to the first slider (160) or the second slider (170) of the main driving connecting rod (150), so that the first connecting block (126a) forms the driving end of the elastic driving mechanism; the second connecting block (126b) located at the second spring movable end (1242) is fixedly connected to the second connecting block (126b) of another elastic driving mechanism located on the same side of the main driving connecting rod (150).

4. The multi-power lifting system according to claim 3, characterized in that: Each of the elastic drive mechanisms further comprises: a first slide rail (125a) and a second slide rail (125b); the first slide rail (125a) is arranged in parallel with the main drive connecting rod (150), and the second slide rail (125b) is arranged perpendicular to the main drive connecting rod (150); The first spring (123) is arranged on the first slide rail (125a), and the first connecting block (126a) of the first spring movable end (1232) can slide on the first slide rail (125a); the second spring (124) is arranged on the second slide rail (125b), and the second connecting block (126b) of the second spring movable end (1242) can slide on the second slide rail (125b).

5. The multi-power lifting system according to claim 3, characterized in that: The driving end of each elastic driving mechanism is fixedly connected to the first sliding block (160) or the second sliding block (170) via a first rectangular connecting frame (127); The second connecting blocks (126b) of the two elastic drive mechanisms located on the same side of the main drive connecting rod (150) are fixedly connected via a second rectangular connecting frame (128).

6. The multi-power lifting system according to claim 1, characterized in that: The height adjustment component (132) of each lifting bracket (131) comprises: a first sprocket (1321) arranged at the bottom of the lifting bracket (131), a second sprocket (1322) arranged at the top of the lifting bracket (131), and a chain (1323) spanned between the first sprocket (1321) and the second sprocket (1322); the fork body mechanism (140) is suspended on the chain (1323) and moves up and down with the rotation of the chain (1323); The two ends of the main driving connecting rod (150) are respectively rotatably connected to the first sprockets (1321) of the two height adjustment components (132); the motor driving mechanism (110) drives the main driving connecting rod (150) to rotate, thereby driving the first sprockets (1321) to rotate.

7. The multi-power lifting system according to claim 6, characterized in that: The main driving connecting rod (150) comprises: a power input shaft (151) arranged at a middle position, and two lead screws (152) arranged at both ends of the power input shaft (151); the first ends (1521) of the two lead screws are fixedly connected to the power input shaft (151), and the second ends (1522) of the two lead screws are rotationally connected to the first sprockets (1321) of the two height adjustment components (132) respectively; The two sliders (160 / 170) arranged on the main driving connecting rod (150) are respectively arranged on the two lead screws (152) and are slidably connected to the two lead screws (152); the power input shaft (151) rotates under the drive of the motor driving mechanism (110), driving the two lead screws (152) to rotate, so that the two sliders (160 / 170) slide between the two lifting brackets (131).

8. The multi-power lifting system according to claim 7, characterized in that: The motor drive mechanism (110) comprises a motor (111), a first drive gear (113) arranged on a motor rotating shaft (112), and a second drive gear (114) arranged on the power input shaft (151); the first drive gear (113) and the second drive gear (114) are meshed; the motor (111) drives the motor rotating shaft (112) to rotate, thereby driving the power input shaft (151) to rotate.

9. The multi-power lifting system according to claim 8, characterized in that: The motor (111) is fixed above the power input shaft (151) via a motor base (115); the motor base (115) comprises: a base plate (1151) and a mounting vertical plate (1152) connected to each other; The mounting vertical plate (1152) has a motor rotating shaft mounting hole (1153) and a power input shaft mounting hole (1154) arranged vertically; the motor rotating shaft (112) passes through the motor rotating shaft mounting hole (1153), and the power input shaft (151) passes through the power input shaft mounting hole (1154), so that the motor (111) is installed above the power input shaft (151) and is located on one side of the mounting vertical plate (1152), and the first drive gear (113) and the second drive gear (114) are installed on the other side of the mounting vertical plate (1152).

10. The multi-power lifting system according to claim 7, characterized in that: The two sliders (160 / 170) are respectively: screw nuts sleeved on the two screws (152); the threads of the two screws (152) have opposite rotation directions.

11. A guided transport vehicle, characterized in that: include: A chassis (200) and the multi-power lifting system as described in any one of claims 1 to 10, wherein the multi-power lifting system is installed on the chassis.

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