AGV lifting device

Abstract

The invention discloses an AGV lifting device, and relates to the technical field of automatic transportation, the AGV lifting device comprises a base, a lifting mechanism is arranged above the base, and a bearing mechanism is arranged above the lifting mechanism. According to the AGV lifting device, through the arrangement of the lifting machine, when materials with different gravity center distribution and eccentric loads exist, stress can be adjusted in a self-adaptive mode, the loads are evenly dispersed to the base and the supporting rod, the unstable phenomena of shaking, inclining and the like are effectively avoided, the stability of the materials in the carrying process is greatly improved, and the working efficiency is improved. It is ensured that the materials are always kept in a stable state, the material damage risk caused by shaking is reduced, and a solid guarantee is provided for high-precision production operation.

Description

Technical Field

[0001] The present invention relates to the field of automated transportation technology, and in particular to an AGV lifting device. Background Art

[0002] In many fields such as modern industrial automation logistics and production manufacturing, material handling and precise positioning are key links, and AGV (Automated Guided Vehicle) lifting devices play a core role.

[0003] Traditional material handling methods mostly rely on manual forklifts or simple lifting platforms. Manual forklifts require a lot of manpower to operate, which is not only labor-intensive and inefficient, but also prone to collisions, cargo drops and other safety accidents during handling due to human factors. It is also difficult to accurately place materials, making it difficult to meet the needs of modern high-precision production. Simple lifting platforms have relatively simple functions and can usually only achieve basic vertical lifting. They lack the ability to flexibly adjust materials in the horizontal direction. When faced with complex production line layouts and diverse material sizes and shapes, they have poor adaptability.

[0004] With the advancement of industrial processes, production workshops have put forward higher requirements for AGV lifting devices. On the one hand, there are many kinds of materials on the production line, and the weight, size, and center of gravity distribution of different materials are different. The lifting device needs to have strong versatility and be able to stably and reliably support various materials. On the other hand, in the automated production process, AGV needs to be precisely connected with peripheral equipment, and the placement accuracy of materials is often required to be at the millimeter level or even higher. This requires the lifting device to not only have precise vertical lifting functions, but also to achieve horizontal fine-tuning to compensate for slight deviations in the AGV parking position and adapt to the height differences of different workstations.

[0005] Some existing AGV lifting devices have deficiencies in their structural design. The lifting mechanism of some devices only uses a simple hydraulic or pneumatic telescopic rod. Although it can achieve basic lifting, the rigidity of the telescopic rod is limited. When subjected to eccentric loads or large impact forces, it is easy to shake and tilt, affecting the stability of the material. Long-term use may also cause deformation of the telescopic rod and reduce the life of the device. Moreover, this type of single drive method is difficult to achieve precise position control and cannot meet high-precision production requirements.

[0006] In terms of guidance, some early designs did not fully consider the lateral force balance during the lifting process. The guidance components were either simple in structure and low in guidance accuracy, which made the lifting parts easy to deviate, or the friction was too large, which increased the drive energy consumption and reduced the operating efficiency of the device. In addition, the linkage design between the supporting mechanism and the lifting mechanism was not sophisticated enough, and the two often acted uncoordinatedly. For example, the rotation or translation of the support tray could not be synchronized with the change in the lifting height, causing the material to shift and slide during the handling process, affecting the continuity of production and product quality. Summary of the invention

[0007] In view of the above-mentioned deficiencies in the prior art, the present invention provides an AGV lifting device, which aims to provide an AGV lifting device with a stable structure, precise guidance, multi-directional fine adjustment capabilities and strong versatility, which has become a technical problem to be urgently solved in the current industrial automation field, in order to meet the increasingly complex production logistics needs, improve production efficiency, ensure product quality and reduce operating costs.

[0008] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0009] An AGV lifting device comprises a base, a lifting mechanism is arranged above the base, and a supporting mechanism is arranged above the lifting mechanism;

[0010] The lifting mechanism comprises:

[0011] Two first hinged seats, the two first hinged seats are symmetrically arranged on the top of the base;

[0012] Two first guide assemblies, the two first guide assemblies are symmetrically arranged at one end of the base away from the first hinge seat, and a first driving assembly is arranged between the two first guide assemblies;

[0013] Two first connecting rods, wherein the two first connecting rods are respectively hinged to the two first hinge seats;

[0014] Two second connecting rods, respectively hinged to the two first connecting rods;

[0015] The second hinged seats are respectively hinged to the second connecting rods;

[0016] Two support rods, respectively fixedly connected to the second hinged seat;

[0017] Two second guide assemblies are fixedly connected to the two support rods respectively;

[0018] The supporting mechanism comprises:

[0019] A second drive assembly, wherein the second drive assembly is fixedly mounted on the second hinge seat;

[0020] A supporting tray is arranged above the two supporting rods.

[0021] Furthermore, it is characterized in that: the first guide assembly includes two first fixed seats fixedly arranged on the top of the base, a first guide rod is fixedly arranged between the two first fixed seats, a first slider is slidably connected between the two first guide rods, and the first sliders are respectively hinged to the second connecting rods.

[0022] Furthermore, the second guide assembly includes two second fixed seats symmetrically arranged on the support rod, a second guide rod is fixedly arranged between the two second fixed seats, a second slider is slidably connected between the two second guide rods, and the second slider is hinged to the two first connecting rods respectively.

[0023] Furthermore, the first driving assembly includes a first servo motor fixedly mounted on the base, a first lead screw is fixedly connected to an output shaft of the first servo motor, and the first lead screw is threadedly connected to the first slider.

[0024] Furthermore, the second drive assembly includes a second servo motor fixedly mounted on a second articulated seat, a second lead screw is fixedly connected to the output shaft of the second servo motor, a fixing rod is fixedly arranged between the two support rods, a second ear seat is fixedly arranged on the fixing rod, and an end of the second lead screw away from the second servo motor is fixedly connected to the second ear seat.

[0025] Furthermore, two symmetrically arranged first ear seats are fixedly provided on the bottom of the supporting tray, and the second lead screw is rotatably connected to the first ear seats.

[0026] Furthermore, a plurality of guide wheels are rotatably connected to the two support rods, and the plurality of guide wheels are disposed in contact with the support tray.

[0027] The beneficial effects of the present invention are:

[0028] An AGV lifting device of the present invention, through the provided lifting machine, can adaptively adjust the force when handling materials with different center of gravity distribution and eccentric load, and evenly distribute the load to the base and the support rod, effectively avoiding unstable phenomena such as shaking and tilting, greatly enhancing the stability during material handling, ensuring that the material always remains in a stable state, reducing the risk of material damage due to shaking, and providing solid protection for high-precision production operations.

[0029] The first guide assembly and the second guide assembly work together. The two first fixed seats, the first guide rod and the first slider in the first guide assembly, combined with the two second fixed seats, the second guide rod and the second slider of the second guide assembly, accurately guide the lifting action in both vertical and horizontal directions. It ensures that the lifting process is carried out along the preset trajectory, effectively suppresses the deviation caused by the lateral force, improves the lifting accuracy, and the low-friction guide design reduces the driving energy consumption, improves the energy utilization efficiency of the device, and reduces the equipment operation cost.

[0030] The first drive assembly not only achieves precise vertical lifting, but also can fine-tune the tray in the horizontal direction through the precise transmission of the lead screw. It can compensate for the parking position deviation of the AGV and adapt to the height and horizontal position differences of different workstations. At the same time, several guide wheels in the support mechanism are rotatably connected to the support rod and are set in conflict with the tray, further assisting the smooth movement of the tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0032] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention;

[0033] Figure 3 It is a schematic diagram of the structure of the support tray of the present invention;

[0034] Figure 4 For the present invention Figure 1 The enlarged structural diagram at A in the middle;

[0035] Figure 5 For the present invention Figure 2 Enlarged structural diagram at B in the middle.

[0036] Reference table of reference numerals:

[0037] 1. Base; 2. First articulated seat; 3. First guide assembly; 4. First drive assembly; 5. First connecting rod; 6. Second connecting rod; 7. Second articulated seat; 8. Support rod; 9. Second guide assembly; 10. Second drive assembly; 11. Support tray; 12. First fixed seat; 13. First guide rod; 14. First slider; 15. Second fixed seat; 16. Second guide rod; 17. Second slider; 18. First servo motor; 19. First lead screw; 20. Second servo motor; 21. Second lead screw; 22. Fixed rod; 23. Second ear seat; 24. Guide wheel; 25. First ear seat. DETAILED DESCRIPTION

[0038] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings, wherein the same components are represented by the same reference numerals.

[0039] It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to directions in the drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0040] In order to make the contents of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0041] like Figures 1 to 5 As shown, an AGV lifting device includes a base 1, a lifting mechanism is arranged above the base 1, and a supporting mechanism is arranged above the lifting mechanism; the various parts cooperate with each other to achieve accurate and stable material lifting and handling functions.

[0042] The base 1 is the foundation of the entire lifting device, providing a stable support for the lifting mechanism and supporting mechanism above. It has sufficient strength and rigidity, and is usually made of high-strength metal materials to bear various loads during the operation of subsequent components, and ensure that its own structure is stable without deformation, displacement, and other problems under complex working conditions such as high-speed driving and frequent start and stop of the AGV.

[0043] The lifting mechanism includes:

[0044] The first articulated seats 2, two of which are symmetrically arranged on the top of the base 1, are made of metal forging technology and have precise mounting and positioning surfaces for reliable articulation with the first connecting rod 5. The symmetrical arrangement ensures balanced force, so that the subsequent lifting force is evenly distributed on the base 1, effectively preventing structural distortion caused by excessive force on one side.

[0045] The first guide assembly 3 is composed of two first fixed seats 12, a first guide rod 13 and a first slider 14. The two first fixed seats 12 are firmly welded or bolted to the top of the base 1 to ensure that the position is fixed. The first guide rod 13 is made of high-precision linear guide rods with good wear resistance and rigidity. It is made of quenched alloy steel and is precisely fixed between the two first fixed seats 12 to provide a smooth and high-precision sliding guide path for the first slider 14. The first slider 14 is made of a metal block with a low friction coefficient inlaid with a self-lubricating copper sleeve. It is hinged with the second connecting rod 6 through a pin shaft. It can flexibly rotate to adapt to the movement changes of the connecting rod, and under the constraint of the first guide rod 13, it can ensure that the movement direction of the second connecting rod 6 is accurately controllable to avoid lateral deviation.

[0046] The first drive assembly 4 includes a first servo motor 18 fixedly mounted on the base 1 and a first lead screw 19 fixedly connected to the output shaft thereof. The first servo motor 18 uses a high-precision, high-torque industrial servo motor, which can accurately control the rotation angle and speed according to the instructions of the control system to achieve precise power output. The first lead screw 19 adopts a ball screw structure. The rolling friction between the balls of the lead screw pair and the lead screw and nut greatly reduces the friction force and improves the transmission efficiency and accuracy. It is tightly matched with the first slider 14 through threads. When the first servo motor 18 drives the first lead screw 19 to rotate, the first slider 14 will make a linear reciprocating motion along the first guide rod 13, thereby driving the components articulated therewith to achieve a lifting action.

[0047] The first connecting rod 5, the two first connecting rods 5 are respectively hinged to the corresponding two first hinge seats 2 through pins. The pins are made of high-strength alloy steel, and the surface is finely processed and heat-treated to ensure smoothness and wear resistance, so that the first connecting rod 5 can flexibly rotate around the pins, realize effective force transmission and direction conversion, and transmit the supporting force at the base 1 to subsequent components.

[0048] The second connecting rod 6 is respectively hinged with the two first connecting rods 5, and also adopts a pin connection method to ensure the flexibility of movement. The hinged connection with the first slider 14 enables the second connecting rod 6 to adjust its posture with the movement of the first slider 14 under the action of the first driving component 4, and cooperates to promote the lifting movement of the subsequent components, and together with the first connecting rod 5, a stable lifting force transmission link is constructed.

[0049] The second hinged seat 7 is hinged to the second connecting rod 6 to form a stable triangular support structure to enhance structural stability.

[0050] Support rods 8, two support rods 8 are rigidly connected to the second hinge seat 7 respectively, and the two support rods 8 provide direct support for the supporting mechanism.

[0051] The second guide assembly 9 is composed of two second fixed seats 15, a second guide rod 16 and a second slider 17. The two second fixed seats 15 are symmetrically welded or bolted to the support rod 8, and the position is accurately fixed. The second guide rod 16 is also made of high-precision linear guide rods, and the material properties are the same as those of the first guide rod 13, providing precise sliding guidance for the second slider 17. The second slider 17 adopts the same low-friction design as the first slider 14. It is hinged with the two first connecting rods 5. During the lifting process, it assists in constraining the movement of the first connecting rods 5 from another dimension, and works in conjunction with the first guide assembly 3 to ensure the high precision and stability of the overall movement of the lifting mechanism, and prevent undesirable phenomena such as deflection and jamming.

[0052] Supporting organizations include:

[0053] The second drive assembly 10 includes a second servo motor 20 fixedly mounted on the second articulated seat 7, and its output shaft is fixedly connected to the second lead screw 21. The performance of the second servo motor 20 is the same as that of the first servo motor 18, and it has high-precision control capabilities and can accurately respond to control system commands. The second lead screw 21 also adopts a ball screw structure, and a fixed rod 22 is fixedly arranged between the two support rods 8, and a first ear seat 25 is fixedly arranged on the fixed rod 22. The end of the second lead screw 21 away from the second servo motor 20 is rotatably connected to the first ear seat 25, forming a stable support and transmission structure, which provides a power basis for the subsequent horizontal adjustment of the support tray 11.

[0054] The tray 11 is arranged above the two support rods 8 and is a component that directly carries the materials. Its surface is usually treated with anti-skid treatment and processed with anti-skid texture to prevent the materials from sliding during transportation. Two symmetrically arranged second ear seats 23 are fixedly arranged at the bottom of the tray 11. The second lead screw 21 is connected to the second ear seat 23 by threads. When the second servo motor 20 drives the second lead screw 21 to rotate, the tray 11 can achieve precise fine-tuning in the horizontal direction above the support rod 8, meeting the docking and material placement accuracy requirements of different workstations, and adapting to various complex material handling scenarios.

[0055] In addition, a number of guide wheels 24 are rotatably connected to the two support rods 8. The guide wheels 24 are generally made of rubber or polyurethane and have good wear resistance and buffering properties. A number of guide wheels 24 are set to abut against the support tray 11. During the lifting and translation process of the support tray 11, they can assist its smooth movement and reduce friction, thereby further improving the reliability and practicality of the entire AGV lifting device.

[0056] The AGV lifting device of the present invention realizes efficient, accurate and stable material handling functions through the fine design and close coordination of various components, meeting the stringent requirements of industrial automated production.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An AGV lifting device, characterized in that: It comprises a base (1), a lifting mechanism is arranged above the base (1), and a supporting mechanism is arranged above the lifting mechanism; The lifting mechanism comprises: Two first hinged seats (2), the two first hinged seats (2) being symmetrically arranged on the top of the base (1); Two first guide assemblies (3), the two first guide assemblies being symmetrically arranged at one end of the base (1) away from the first hinge seat (2), and a first drive assembly (4) being arranged between the two first guide assemblies; Two first connecting rods (5), the two first connecting rods (5) being hinged to the two first hinge seats (2) respectively; Two second connecting rods (6) are respectively hinged to the two first connecting rods (5); Second hinged seats (7) are respectively hinged to the second connecting rods (6); Two support rods (8) are respectively fixedly connected to the second hinged seat (7); Two second guide assemblies (9) are respectively fixedly connected to the two support rods (8); The supporting mechanism comprises: A second driving assembly (10), wherein the second driving assembly (10) is fixedly mounted on the second hinged seat (7); A support tray (11), wherein the support tray (11) is arranged above the two support rods (8).

2. The AGV lifting device according to claim 1, characterized in that: The first guide assembly (3) comprises two first fixed seats (12) fixedly arranged on the top of the base (1), a first guide rod (13) fixedly arranged between the two first fixed seats (12), a first slider (14) slidably connected between the two first guide rods (13), and the first sliders (14) are respectively hinged to the second connecting rods (6).

3. The AGV lifting device according to claim 1, characterized in that: The second guide assembly (9) comprises two second fixed seats (15) symmetrically arranged on the support rod (8), a second guide rod (16) is fixedly arranged between the two second fixed seats (15), a second slider (17) is slidably connected between the two second guide rods (16), and the second slider (17) is respectively hinged to the two first connecting rods (5).

4. The AGV lifting device according to claim 2, characterized in that: The first drive assembly (4) comprises a first servo motor (18) fixedly mounted on the base (1); a first lead screw (19) is fixedly connected to an output shaft of the first servo motor (18); and the first lead screw (19) is threadedly connected to the first slider (14).

5. The AGV lifting device according to claim 1, characterized in that: The second driving assembly (10) comprises a second servo motor (20) fixedly mounted on the second hinged seat (7); a second lead screw (21) is fixedly connected to the output shaft of the second servo motor (20); a fixing rod (22) is fixedly arranged between the two support rods (8); a second ear seat (23) is fixedly arranged on the fixing rod (22); and one end of the second lead screw (21) away from the second servo motor (20) is rotatably connected to the second ear seat (23).

6. The AGV lifting device according to claim 5, characterized in that: Two symmetrically arranged first ear seats (25) are fixedly arranged at the bottom of the support tray (11), and the second lead screw (21) is threadedly connected to the first ear seats (25).

7. The AGV lifting device according to claim 1, characterized in that: A plurality of guide wheels (24) are rotatably connected to the two support rods (8), and the plurality of guide wheels (24) are arranged in contact with the support tray (11).

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