Lifting assembly and carrier

Abstract

The invention provides a lifting assembly and a carrier, the lifting assembly comprises a butt joint table, a base, at least one lifting mechanism and at least one guide mechanism, the butt joint table and the base are arranged at intervals in the lifting direction, the lifting mechanism and the guide mechanism are both connected between the butt joint table and the base, the lifting mechanism is used for driving the butt joint table to get close to or away from the base, and the guide mechanism is used for guiding the butt joint table to move away from the base. The guiding mechanism is used for limiting the butt joint table and the base to only move relatively in the lifting direction, the two ends of the lifting mechanism are hinged to the butt joint table and the base respectively, the projection positions of the two ends of the lifting mechanism in the lifting direction are staggered, and the lifting mechanism can change the length of the lifting mechanism so as to drive the butt joint table to move. According to the invention, the included angle is formed between the length direction and the lifting direction of the lifting mechanism, so that the height of the lifting assembly can be reduced, the structural compactness of the carrier is improved, the adaptability of the carrier to a low-position operation scene is improved, the stability of the gravity center position of the carrier when heavy-load materials are transported is improved, and the safety of transmission operation is ensured.

Description

Lifting components and transport vehicles Technical Field

[0001] This invention relates to the field of lifting assembly technology, and more specifically, to a lifting assembly and a transport vehicle including the lifting assembly. Background Technology

[0002] Automated Guided Vehicles (AGVs), also known as automated guided vehicles or automated guided transport vehicles, are one of the main pieces of equipment for automating material transport in factories. With the increasing automation of AGVs, the safety and space constraints associated with heavy-duty AGV transport have become particularly prominent. The smaller the height of a heavy-duty, high-precision lifting AGV, the lower its center of gravity, and the safer its transport. The smaller its length and width, the less factory space it occupies during transport, and the more types of material handling frames it can handle.

[0003] The existing AGVs are large in size and have high platforms on top, making them unsuitable for some low-level handover scenarios. In addition, their high center of gravity often causes instability when handling and lifting heavy materials, increasing the risk of safety accidents.

[0004] Therefore, how to provide a compact lifting structure for a transport vehicle that can stably transport heavy materials has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] This invention aims to address, to a certain extent, one of the technical problems in related technologies. To this end, the present invention provides a lifting assembly and a transport vehicle including the lifting assembly. The lifting assembly can reduce its height and improve the stability of the transport vehicle's center of gravity, ensuring the safety of transport operations.

[0006] To achieve the above objectives, as one aspect of the present invention, a lifting assembly for a transport vehicle is provided. The lifting assembly includes a docking platform, a base, at least one lifting mechanism, and at least one guiding mechanism. The docking platform and the base are spaced apart along a lifting direction. The lifting mechanism and the guiding mechanism are both connected between the docking platform and the base. The lifting mechanism is used to drive the docking platform closer to or away from the base. The guiding mechanism is used to limit the relative movement of the docking platform and the base to only along the lifting direction. The two ends of the lifting mechanism are respectively hinged to the docking platform and the base, and the two ends of the lifting mechanism are offset in projection along the lifting direction. The lifting mechanism can change its length to drive the docking platform to move relative to the base.

[0007] Optionally, the lifting assembly includes a plurality of lifting mechanisms, the first end of each lifting mechanism being hinged to the docking platform, and the second end of each lifting mechanism being hinged to the base. The second ends of the plurality of lifting mechanisms are distributed on both sides of the base at a predetermined interval, and the first ends of the plurality of lifting mechanisms are all located between the second ends of the plurality of lifting mechanisms, or the second ends of the plurality of lifting mechanisms are all located between the first ends of the plurality of lifting mechanisms.

[0008] Optionally, the lifting mechanisms located on both sides along the preset interval direction intersect each other.

[0009] Optionally, the lifting assembly includes multiple pairs of lifting mechanisms, with the second ends of the two lifting mechanisms in each pair distributed on different sides along the preset interval direction, and the multiple pairs of lifting mechanisms are centrally symmetrical about the same center of symmetry.

[0010] Optionally, the lifting mechanisms are arranged in pairs, and each pair of lifting mechanisms is symmetrically arranged.

[0011] Optionally, the lifting assembly includes two of the lifting mechanisms and four of the guiding mechanisms.

[0012] Optionally, the angle between the lifting mechanism and the base varies from 40° to 60°.

[0013] Optionally, the lifting mechanism includes an electric cylinder, a hydraulic cylinder, or a pneumatic cylinder, with the end of the drive rod of the lifting mechanism away from the cylinder body forming the first end of the lifting mechanism, and the end of the cylinder body away from the drive rod forming the second end of the lifting mechanism.

[0014] Optionally, at least one top hinge portion is fixedly provided on the docking platform, the first end of the lifting mechanism has at least one top hinge joint, and the lifting assembly further includes at least one top hinge shaft, which passes through at least one top hinge portion and the corresponding top hinge joint to hinge the first end of the lifting mechanism to the docking platform; and / or

[0015] At least one bottom hinge portion is fixedly provided on the base, and the second end of the lifting mechanism has at least one bottom hinge joint. The lifting assembly also includes at least one bottom hinge shaft, which passes through at least one bottom hinge portion and the corresponding bottom hinge joint to hinge the second end of the lifting mechanism to the base.

[0016] Optionally, the lifting assembly further includes at least one top hinge frame, the top hinge portion being disposed on the top hinge frame, and the top hinge frame being assembled and connected to the docking platform.

[0017] Optionally, the top hinge frame further includes a top mounting plate, the top hinge portion is disposed on the top mounting plate, and the top mounting plate is assembled and connected to the docking platform.

[0018] Optionally, the top hinge frame has a plurality of top hinge portions, and the top hinge joint is located between the corresponding top hinge portions of the top hinge frame.

[0019] Optionally, the top hinge portion has a top hinge hole, a top bushing is provided in the top hinge hole, and the top hinge shaft passes through the inner hole of the top bushing.

[0020] Optionally, the top hinge shaft includes a first limiting head and a first shaft body coaxially connected, and the lifting assembly further includes at least one first retaining ring. The radial dimension of the first limiting head is larger than the radial dimension of the first shaft body. A first mating groove extending around the axis of the first shaft body is formed on the outer surface of the end of the first shaft body away from the first limiting head. The first retaining ring is sleeved on the first shaft body and engaged in the first mating groove. The top hinge portion and the top hinge joint are both located between the first limiting head and the first retaining ring, and the outer diameter of the first retaining ring is larger than the inner diameter of the top bushing.

[0021] Optionally, the first retaining ring is a spring retaining ring.

[0022] Optionally, the top bushing includes a top sleeve and a top limiting edge coaxially connected, the top sleeve being disposed in the top hinge hole, and the outer diameter of the top limiting edge being larger than the diameter of the top hinge hole.

[0023] Optionally, the outer diameter of the top sleeve is larger than the diameter of the top hinge hole.

[0024] Optionally, the material of the top bushing may include iron or copper.

[0025] Optionally, the lifting assembly further includes at least one bottom hinge frame, the bottom hinge portion being disposed on the bottom hinge frame, and the bottom hinge frame being assembled and connected to the base.

[0026] Optionally, the bottom hinge frame further includes a bottom mounting plate, the bottom hinge portion is disposed on the bottom mounting plate, and the bottom mounting plate is assembled and connected to the base.

[0027] Optionally, the base has a plurality of bottom hinge portions, and the bottom hinge joints are located between the bottom hinge portions of the corresponding bottom hinge frame.

[0028] Optionally, the bottom hinge portion has a bottom hinge hole, a bottom bushing is provided in the bottom hinge hole, and the bottom hinge shaft passes through the inner hole of the bottom bushing.

[0029] Optionally, the bottom hinge shaft includes a second limiting head and a second shaft body coaxially connected. The lifting assembly also includes at least one second retaining ring. The radial dimension of the second limiting head is larger than the radial dimension of the second shaft body. A second mating groove extending around the axis of the second shaft body is formed on the outer surface of the end of the second shaft body away from the second limiting head. The second retaining ring is sleeved on the second shaft body and engaged in the second mating groove. The bottom hinge portion and the bottom hinge joint are both located between the second limiting head and the second retaining ring, and the outer diameter of the second retaining ring is larger than the inner diameter of the bottom bushing.

[0030] Optionally, the second retaining ring is a spring retaining ring.

[0031] Optionally, the bottom bushing includes a bottom sleeve and a bottom limiting edge coaxially connected, the bottom sleeve being disposed in the bottom hinge hole, and the outer diameter of the bottom limiting edge being larger than the diameter of the bottom hinge hole.

[0032] Optionally, the outer diameter of the bottom sleeve is larger than the diameter of the bottom hinge hole.

[0033] Optionally, the material of the base bushing may include iron or copper.

[0034] Optionally, the docking platform has a plurality of positioning cones on the surface away from the base, and the cross-sectional dimensions of the positioning cones gradually decrease along the direction away from the base.

[0035] Optionally, the docking platform has multiple camera slots on the surface opposite to the base, and positioning cameras are disposed in the camera slots.

[0036] Optionally, an elastic pad layer is provided on the surface of the docking platform facing away from the base.

[0037] Optionally, the elastic pad is a nylon pad.

[0038] Optionally, the elastic pad has a positioning clearance through hole at the position corresponding to the positioning cone, and the elastic pad has a camera clearance through hole at the position corresponding to the camera slot.

[0039] Optionally, the docking platform includes a support plate and a platform panel that are stacked and connected to each other. The lifting mechanism and the guiding mechanism are both fixedly connected to the support plate, and the platform panel is located on the side of the support plate away from the guiding mechanism.

[0040] The support plate has at least one hinge mounting hole, which penetrates the support plate along its thickness direction. The top hinge frame is at least partially disposed in the hinge mounting hole and is fixedly connected to the inner wall of the hinge mounting hole.

[0041] Optionally, the top mounting plate of the top hinge frame is assembled and connected to the inner wall of the mounting hole.

[0042] Optionally, the top hinge frame further includes a top positioning plate, one end of which is connected to the top mounting plate, and the top positioning plate is in contact with the surface of the support plate facing the base.

[0043] Optionally, the inner wall of the hinge mounting hole has a hinge mounting groove, and the top mounting plate is at least partially accommodated in the hinge mounting groove.

[0044] Optionally, the support plate also has at least one weight-reducing hole, which penetrates the support plate along its thickness direction.

[0045] Optionally, the guiding mechanism includes a guide cylinder, a connecting shaft, and an elastic contact washer. The first end of the connecting shaft is disposed in the guide cylinder and is slidable in the guide cylinder along the lifting direction. The second end of the connecting shaft and the elastic contact washer are fixedly connected to one of the docking platform and the base. The guide cylinder is fixedly disposed on the other of the docking platform and the base. The elastic contact washer is disposed around the outside of the connecting shaft, and the position of the elastic contact washer along the lifting direction corresponds to the position of the guide cylinder along the lifting direction.

[0046] Optionally, the inner hole of the guide cylinder includes a coaxial and interconnected guide hole and a receiving hole. The receiving hole is located on the side of the guide hole away from the second end of the connecting shaft. The cross-sectional dimension of the receiving hole is larger than that of the guide hole. A limiting step surface away from the second end of the connecting shaft is formed at the connection between the guide hole and the receiving hole. A limiting head is fixed at the first end of the connecting shaft. The limiting head is accommodated in the receiving hole and can contact the limiting step surface.

[0047] Optionally, a guide bushing is provided in the guide hole, and the connecting shaft passes through the inner hole of the guide bushing.

[0048] Optionally, the guide bushing includes a cylindrical body and a positioning outer edge, the outer diameter of the positioning outer edge being larger than the outer diameter of the cylindrical body, the cylindrical body being disposed in the guide hole, and the connecting shaft passing through the cylindrical body.

[0049] Optionally, the outer diameter of the cylinder is larger than the diameter of the guide hole.

[0050] Optionally, the guide bushing may be made of iron or copper.

[0051] Optionally, the second end of the connecting shaft is fixedly connected to the docking platform, and the guide cylinder is fixedly mounted on the base.

[0052] Optionally, the guide mechanism further includes a connecting plate, the support plate having at least one connecting groove and at least one connecting hole, the connecting groove being located on the surface of the support plate facing the table panel, the connecting hole being located at the bottom of the connecting groove and penetrating the support plate, the connecting plate being fixedly disposed in the connecting groove, and the second end of the connecting shaft passing through the connecting hole and being fixedly connected to the connecting plate.

[0053] Optionally, the bottom of the connecting groove also has a plurality of first mounting holes distributed around the connecting hole, and the connecting plate has a plurality of first clearance holes corresponding one-to-one with the positions of the plurality of first mounting holes. The connecting plate is fixedly connected to the support plate by fasteners that pass through the first clearance holes and the first mounting holes in sequence.

[0054] Optionally, the guide cylinder has a connecting flange at the end opposite to the docking platform, and the connecting flange is assembled and connected to the base.

[0055] Optionally, an elastic sealing gasket is provided between the end of the guide cylinder away from the docking platform and the base, and the elastic sealing gasket has a plurality of assembly clearance holes that correspond one-to-one with the positions of a plurality of assembly holes on the connecting flange.

[0056] Optionally, the side of the guide cylinder has at least one side reinforcing rib extending along the axial direction of the guide cylinder, and one end of the side reinforcing rib is connected to the connecting flange.

[0057] Optionally, the lifting assembly further includes a cable encoder, which is fixedly mounted on one of the docking platform and the base, and the movable end of the cable encoder is connected to the other of the docking platform and the base.

[0058] Optionally, the wire encoder is fixedly mounted on the base, and the movable end of the wire encoder is connected to the docking platform.

[0059] Optionally, the lifting assembly further includes a distance detection module, which is used to issue an upper limit signal when it detects that the docking platform has moved away from the base to the upper limit position, and to issue a lower limit signal when it detects that the docking platform has moved toward the base to the lower limit position. The lifting mechanism is used to control itself to stop moving in response to receiving the upper limit signal or the lower limit signal.

[0060] Optionally, the distance detection module includes an upper limit sensor and a lower limit sensor. The upper limit sensor is fixedly connected to the docking platform and can generate the upper limit signal in response to a distance greater than a first preset distance between itself and the base. The lower limit sensor is fixedly connected to the base and can generate the lower limit signal in response to a distance less than a second preset distance between itself and the docking platform.

[0061] Optionally, the upper limit sensor and the lower limit sensor are photoelectric sensors.

[0062] Optionally, a first reflective sheet is provided on the surface of the base facing the docking platform, the first reflective sheet being used to reflect the detection light signal emitted by the upper limit sensor, and a second reflective sheet is provided on the surface of the docking platform facing the base, the second reflective sheet being used to reflect the detection light signal emitted by the lower limit sensor.

[0063] Optionally, the lifting assembly further includes a sensor connector extending along the lifting direction, with a first end of the sensor connector fixedly connected to the docking platform, and the upper limit sensor disposed at the second end of the sensor connector.

[0064] Optionally, the lower limit sensor is fixedly mounted on the side reinforcing rib.

[0065] Optionally, the lifting assembly further includes a protective housing, which is fixedly disposed on the base and surrounds the lifting mechanism and the guide mechanism.

[0066] As a second aspect of the present invention, a transport vehicle is provided, the transport vehicle including a lifting assembly and a travel wheel assembly disposed at the bottom of the lifting assembly, the lifting assembly being the lifting assembly described above.

[0067] Optionally, the travel wheel assembly includes a drive mechanism, multiple drive wheels, and multiple casters. The drive mechanism is used to drive the multiple drive wheels to rotate synchronously to drive the transport vehicle to move in a straight line, or to drive the multiple drive wheels to rotate at different speeds to drive the transport vehicle to turn.

[0068] In the lifting assembly and transport vehicle provided by this invention, the lifting mechanism can drive the hinged docking platform and the base at both ends to move relative to each other under the guidance of the guiding mechanism through its own telescopic movement, thereby allowing the docking platform to lift and lower the material above it. Furthermore, the projection positions of the two ends of the lifting mechanism along the lifting direction are staggered, meaning there is an angle between the length direction and the lifting direction of the lifting mechanism. Therefore, when the length of the lifting mechanism is shortened, it can tilt to one side, reducing the size of the lifting mechanism along the lifting direction (i.e., the height direction), thus improving the overall compactness of the transport vehicle structure. Compared with the existing scheme of arranging electric cylinders vertically, this effectively reduces the minimum height of the lifting assembly and improves the adaptability of the transport vehicle using the lifting assembly provided by this invention to low-position operation scenarios.

[0069] Furthermore, the transport vehicle using the lifting component provided in this embodiment of the invention has a compact structure. When it carries materials for transportation and lifts materials, the center of gravity of the transport vehicle and the materials as a whole is lower, thereby ensuring the stability of the transport vehicle when carrying large loads of materials and thus ensuring the safety of the transmission operation. Attached Figure Description

[0070] The present invention will be further described below with reference to the accompanying drawings:

[0071] Figure 1 is a schematic diagram of the structure of a lifting assembly provided in an embodiment of the present invention;

[0072] Figure 2 is a partial structural schematic diagram of the lifting assembly shown in Figure 1;

[0073] Figure 3 is a partially enlarged schematic diagram of the structure shown in Figure 2 in region A;

[0074] Figure 4 is a schematic diagram of the lifting assembly provided in the embodiment of the present invention in a low position state;

[0075] Figure 5 is a schematic diagram of the lifting assembly provided in the embodiment of the present invention in a high position state;

[0076] Figure 6 is a schematic diagram of the connection relationship between the lifting mechanism and its two end structures in the lifting assembly provided in an embodiment of the present invention;

[0077] Figure 7 is a disassembled schematic diagram showing the connection relationship between some of the components in Figure 6;

[0078] Figure 8 is a schematic diagram of the guide mechanism in the lifting assembly provided in an embodiment of the present invention;

[0079] Figure 9 is a schematic diagram of the connection relationship between the guide mechanism and its two end structures in the lifting assembly provided in an embodiment of the present invention;

[0080] Figure 10 is a schematic diagram showing the distribution of the surface structure of the lifting assembly platform panel provided in an embodiment of the present invention;

[0081] Figure 11 is a schematic diagram of the connection relationship between the lifting assembly platform panel and the elastic pad layer provided in an embodiment of the present invention;

[0082] Figure 12 is a structural schematic diagram of a lifting assembly provided in another embodiment of the present invention;

[0083] Figure 13 is a partial structural schematic diagram of the lifting assembly shown in Figure 12;

[0084] Figure 14 is a schematic diagram of the lifting assembly provided in the embodiment of the present invention in a low position state;

[0085] Figure 15 is a schematic diagram of the lifting assembly provided in the embodiment of the present invention in a high position state;

[0086] Figure 16 is a top view of the lifting assembly shown in Figure 12;

[0087] Figure 17 is a side view of the lifting assembly shown in Figure 12;

[0088] Figure 18 is a structural schematic diagram of the lifting assembly provided in an embodiment of the present invention.

[0089] Explanation of reference numerals in the attached figures:

[0090] 100. Docking platform; 110. Support plate; 111. Hinge mounting hole; 112. Hinge mounting groove; 113. Weight reduction hole; 120. Tabletop; 121. Positioning cone; 122. Positioning camera; 123. Elastic pad; 200. Base; 210. Protective housing; 300. Lifting mechanism; 310. Top hinge joint; 320. Bottom hinge joint; 330. Top hinge shaft; 340. Bottom hinge shaft; 341. Second limit head; 342. Second shaft; 343. Second mating groove; 350. First retaining ring; 360. Second retaining ring; 400. Guide mechanism; 410. Guide cylinder; 411. Connecting flange; 412. Side reinforcing rib; a1, limiting step surface; 420, connecting shaft; 421, limiting head; 430, elastic contact washer; 440, guide bushing; 450, connecting plate; 460, elastic sealing gasket; 510, top hinge frame; 511, top hinge part; 512, top mounting plate; 513, top positioning plate; 520, top bushing; 530, bottom hinge frame; 531, bottom hinge part; 532, bottom mounting plate; 540, bottom bushing; 541, bottom sleeve; 542, bottom limiting edge; 610, pull-wire encoder; 620, distance detection module; 621, upper limit sensor; 622, lower limit sensor; 623, sensor connecting seat. Detailed Implementation

[0091] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain the present invention and should not be construed as limiting the invention.

[0092] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this invention. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0093] In related technologies, AGV lifting components typically employ a single power drive, such as a lead screw nut or hydraulic cylinder, with the lifting component arranged along the lifting direction. When lifting heavy-load materials, the lifting component occupies a significant amount of space in the vertical direction, resulting in a large vertical dimension for heavy-load lifting AGVs. This makes it difficult to meet the requirements of complex operations. Furthermore, during heavy-load lifting, if the center of gravity of the heavy-load material is not centered, the AGV's own weight makes it difficult to maintain balance, increasing the risk of safety accidents.

[0094] To address the aforementioned technical problems, as one aspect of the present invention, a lifting assembly for a transport vehicle (i.e., an AGV trolley) is provided, as shown in Figures 1 to 5 and Figures 12 to 18. The lifting assembly includes a docking platform 100, a base 200, at least one lifting mechanism 300, and at least one guiding mechanism 400. The docking platform 100 and the base 200 are spaced apart along the lifting direction (i.e., the up-down direction in Figures 1 to 5, which is also the height direction in the usage state). The lifting mechanism 300 and the guiding mechanism 400 are both connected... The lifting mechanism 300 is connected between the docking platform 100 and the base 200. It is used to drive the docking platform 100 to move closer to or away from the base 200. The guiding mechanism 400 is used to limit the docking platform 100 and the base 200 to move relative to each other only in the lifting direction. The two ends of the lifting mechanism 300 are respectively hinged to the docking platform 100 and the base 200, and the two ends of the lifting mechanism 300 are offset in the projection position along the lifting direction. The lifting mechanism 300 can change its own length to drive the docking platform 100 to move relative to the base 200.

[0095] Understandably, in normal use, the docking platform 100 is located above the base 200. The lifting mechanism 300 drives the docking platform 100 to rise or fall relative to the base 200 by changing its own length, thereby lifting the material on the docking platform 100 or putting the material down.

[0096] In the lifting assembly provided by this invention, the lifting mechanism 300 can drive the docking platform 100 and the base 200, which are hinged at both ends, to move relative to each other under the guidance of the guide mechanism 400 through its own telescopic movement, thereby allowing the docking platform 100 to lift and lower the material above it. Furthermore, the projection positions of the two ends of the lifting mechanism 300 along the lifting direction are staggered, that is, there is an angle between the length direction of the lifting mechanism 300 and the lifting direction. Therefore, when the length of the lifting mechanism 300 is shortened, as shown in Figure 4, the lifting mechanism 300 can tilt to one side, reducing the size of the lifting mechanism 300 along the lifting direction (i.e., the height direction). This improves the overall compactness of the transport vehicle structure using the lifting assembly provided in this embodiment of the invention. Compared with the existing scheme of arranging electric cylinders in the vertical direction, it can effectively reduce the minimum height of the lifting assembly and improve the adaptability of the transport vehicle to low-position operation scenarios.

[0097] Furthermore, the transport vehicle using the lifting component provided in this embodiment of the invention has a compact structure. When it carries materials for transportation and lifts materials, the center of gravity of the transport vehicle and the materials as a whole is lower, thereby ensuring the stability of the transport vehicle when carrying large loads of materials and thus ensuring the safety of the transmission operation.

[0098] It is understandable that the distance between the projected positions of the two ends of the lifting mechanism 300 along the horizontal plane remains unchanged (as shown in Figures 4, 5, 14, and 15). Therefore, this distance and the height difference between the docking platform 100 and the base 200 can be regarded as the two legs of a right triangle, and the length of the lifting mechanism 300 can be regarded as the hypotenuse of the right triangle. The three can be equivalent to a right triangle. It is easy to know that when the length of one leg of the right triangle remains unchanged, the change in the length of the hypotenuse is less than the change in the length of the other leg. Therefore, during the lifting process, the change in the length of the lifting mechanism 300 is less than the lifting height of the docking platform 100, thereby enabling a larger lifting height range of the docking platform 100 to be achieved with a smaller layout space.

[0099] To further improve the stability of the material transport and lifting by the transport vehicle, as a preferred embodiment of the present invention, as shown in Figures 2, 4 to 5, and 12 to 15, the lifting assembly includes multiple lifting mechanisms 300. The first end of the lifting mechanism 300 (i.e., the top end in the use state) is hinged to the docking platform 100, and the second end of the lifting mechanism 300 (i.e., the bottom end in the use state) is hinged to the base 200. The second ends of the multiple lifting mechanisms 300 are distributed on both sides of the base 200 at preset intervals (i.e., the left and right directions in Figures 4 and 5), and the first ends of the multiple lifting mechanisms 300 are all located between the second ends of the multiple lifting mechanisms 300, as shown in Figures 2, 4 to 5; or, the second ends of the multiple lifting mechanisms 300 are all located between the first ends of the multiple lifting mechanisms 300, as shown in Figures 12 to 15.

[0100] In this embodiment of the invention, the bottom ends of the lifting mechanisms 300 are distributed on both sides along a preset interval direction, while the top ends of the lifting mechanisms 300 are inclined towards the opposite side as shown in Figures 2, 4 to 5, or inclined away from the opposite side as shown in Figures 12 to 15. Thus, the horizontal component of the supporting force applied by the lifting mechanisms 300 distributed on both sides to the docking platform 100 can cancel each other out, improving the uniformity of the force on the docking platform 100 in the horizontal direction. Furthermore, when the docking platform 100 is inclined to either side, the lifting mechanism 300 on that side can automatically correct the deviation by applying a reverse supporting force to the docking platform 100, making the lifting assembly more resistant to off-center loads during heavy-duty lifting, and further ensuring the stability of the transport vehicle in carrying and lifting materials.

[0101] It is understood that the figure only shows the case where the lifting assembly includes two lifting mechanisms 300. In actual applications, it can also include three, four or more lifting mechanisms 300.

[0102] To further improve the compactness of the lifting assembly, as a preferred embodiment of the present invention, as shown in Figures 4 and 5, the lifting mechanisms 300 located on both sides along a predetermined interval direction intersect each other. That is, the first end of the lifting mechanism 300 is located on the side where the first end of the opposite lifting mechanism 300 faces the second end of the opposite lifting mechanism 300, and the top ends of both lifting mechanisms 300 extend beyond the center position of both lifting mechanisms 300. The two lifting mechanisms 300 are intersecting each other, thereby further improving the utilization rate of the space between the docking platform 100 and the base 200 and improving the compactness of the lifting assembly.

[0103] As an optional embodiment of the present invention, the lifting assembly may include multiple pairs of lifting mechanisms 300, wherein the second ends of the two lifting mechanisms 300 in each pair are distributed on different sides along a preset interval direction, and the multiple pairs of lifting mechanisms 300 are centrally symmetrically distributed about the same center of symmetry.

[0104] To further ensure the positional accuracy of the docking platform 100, as a preferred embodiment of the present invention, as shown in Figures 12 to 17, the lifting mechanisms 300 are arranged in pairs, and each pair of lifting mechanisms 300 is symmetrically arranged. Specifically, the telescopic axes of each pair of lifting mechanisms 300 are coplanar. As shown in Figure 17, from the perspective of the distribution direction of each pair of lifting mechanisms 300, the telescopic axes of the two lifting mechanisms 300 coincide. Thus, the horizontal component of the force applied to the docking platform 100 by each pair of lifting mechanisms 300 is collinear. While the horizontal components cancel each other out, no torque is applied to the docking platform 100, further reducing the force on the guide mechanism 400 in the horizontal direction, thereby ensuring the positional accuracy of the docking platform 100.

[0105] As an optional embodiment of the present invention, as shown in Figures 2, 9, and 13, the lifting assembly includes two lifting mechanisms 300 and four guiding mechanisms 400, with the lifting mechanisms 300 located within the space defined by the four guiding mechanisms 400.

[0106] To further improve the structural compactness of the lifting assembly, as a preferred embodiment of the present invention, when the lifting mechanism 300 is centrally symmetrically distributed, as shown in Figures 2 and 9, the four guide mechanisms 400 can be distributed in a parallelogram shape, that is, the guide mechanism 400 corresponding to the top of the lifting mechanism 300 is offset outward to avoid the range of motion of the lifting mechanism 300.

[0107] As an optional embodiment of the present invention, when the lifting mechanisms 300 are arranged in pairs symmetrically, as shown in Figures 13 and 14, the four guide mechanisms 400 can be distributed in a rectangular shape.

[0108] As an optional embodiment of the present invention, the angle between the lifting mechanism 300 and the base 200 varies from 40° to 60°, that is, the angle between the line connecting the first end and the second end of the lifting mechanism 300 and the top surface of the base 200 can vary between 40° and 60°.

[0109] As an optional embodiment of the present invention, the lifting mechanism 300 includes an electric cylinder, a hydraulic cylinder, or a pneumatic cylinder (the figure shows the case where the lifting mechanism 300 includes an electric cylinder). The end of the drive rod of the lifting mechanism 300 away from the cylinder body of the lifting mechanism 300 is formed as the first end of the lifting mechanism 300, and the end of the cylinder body away from the drive rod is formed as the second end of the lifting mechanism 300.

[0110] As an optional embodiment of the present invention, as shown in Figures 4 to 6, at least one top hinge portion 511 is fixedly provided on the docking platform 100, the first end of the lifting mechanism 300 has at least one top hinge joint 310, and the lifting assembly further includes at least one top hinge shaft 330, which passes through at least one top hinge portion 511 and the corresponding top hinge joint 310 to hinge the first end of the lifting mechanism 300 to the docking platform 100; and / or

[0111] At least one bottom hinge portion 531 is fixedly provided on the base 200, and the second end of the lifting mechanism 300 has at least one bottom hinge joint 320. The lifting assembly also includes at least one bottom hinge shaft 340, which passes through at least one bottom hinge portion 531 and the corresponding bottom hinge joint 320 to hinge the second end of the lifting mechanism 300 to the base 200.

[0112] As a preferred embodiment of the present invention, as shown in Figures 4 to 6 and Figures 14 to 15, the lifting assembly further includes at least one top hinge frame 510, with a top hinge portion 511 disposed on the top hinge frame 510, and the top hinge frame 510 being assembled and connected to the docking platform 100.

[0113] In this embodiment of the invention, the top hinge part 511 is a part of the structure on the top hinge frame 510. The top hinge frame 510 is assembled and connected to the docking platform 100. Thus, when the top hinge part 511 suffers wear, breakage or other problems after long-term use or in the event of an accident, it can be quickly maintained by disassembling and replacing the top hinge frame 510, thereby improving the maintenance efficiency of the lifting assembly.

[0114] As an optional embodiment of the present invention, as shown in FIG6, the top hinge frame 510 further includes a top mounting plate 512, the top hinge part 511 is disposed on the top mounting plate 512, and the top mounting plate 512 is assembled and connected to the docking platform 100.

[0115] As an optional embodiment of the present invention, as shown in FIG6, the top hinge frame 510 has a plurality of top hinge portions 511, and the top hinge joint 310 is located between the top hinge portions 511 of the corresponding top hinge frame 510.

[0116] To improve the smoothness of rotation of the end rotating joint of the lifting assembly, as shown in FIG6, as a preferred embodiment of the present invention, the top hinge portion 511 has a top hinge hole, a top bushing 520 is provided in the top hinge hole, and the top hinge shaft 330 passes through the inner hole of the top bushing 520.

[0117] As an optional embodiment of the present invention, as shown in FIG6, the top hinge shaft 330 includes a first limiting head 421 and a first shaft body coaxially connected. The lifting assembly also includes at least one first retaining ring 350. The radial dimension of the first limiting head 421 is larger than the radial dimension of the first shaft body. A first mating groove extending around the axis of the first shaft body is formed on the outer surface of the end of the first shaft body away from the first limiting head 421. The first retaining ring 350 is sleeved on the first shaft body and locked in the first mating groove. The top hinge portion 511 and the top hinge joint 310 are both located between the first limiting head 421 and the first retaining ring 350. The outer diameter of the first retaining ring 350 is larger than the inner diameter of the top bushing 520, thereby axially limiting the components connected to the top hinge shaft 330 through the first retaining ring 350.

[0118] In one optional embodiment of the present invention, the first retaining ring 350 is a spring retaining ring.

[0119] As an optional embodiment of the present invention, the top bushing 520 includes a top sleeve and a top limiting edge coaxially connected, the top sleeve being disposed in the top hinge hole, and the outer diameter of the top limiting edge being larger than the diameter of the top hinge hole.

[0120] To ensure the stability of the top sleeve installation position, in a preferred embodiment of the present invention, the outer diameter of the top sleeve is larger than the diameter of the top hinge hole, that is, the top sleeve and the top hinge hole are interference fit.

[0121] As an optional embodiment of the present invention, the material of the top bushing 520 includes iron or copper.

[0122] To improve transmission smoothness, the top bushing 520 is preferably made of copper or a copper alloy.

[0123] Optionally, the inner wall of the top bushing 520 is coated with a lubricant (e.g., lubricating grease).

[0124] As a preferred embodiment of the present invention, as shown in Figures 4 to 7 and Figures 14 to 15, the lifting assembly further includes at least one bottom hinge frame 530, with a bottom hinge portion 531 disposed on the bottom hinge frame 530, and the bottom hinge frame 530 being assembled and connected to the base 200.

[0125] In this embodiment of the invention, the bottom hinge part 531 is a part of the structure on the bottom hinge frame 530. The bottom hinge frame 530 is assembled and connected to the base 200. Therefore, when the bottom hinge part 531 suffers wear, breakage or other problems after long-term use or in case of accident, it can be quickly maintained by disassembling and replacing the bottom hinge frame 530, which improves the maintenance efficiency of the lifting assembly.

[0126] As an optional embodiment of the present invention, as shown in Figures 4 to 7, the bottom hinge frame 530 further includes a bottom mounting plate 532, the bottom hinge part 531 is disposed on the bottom mounting plate 532, and the bottom mounting plate 532 is assembled and connected to the base 200.

[0127] As an optional embodiment of the present invention, as shown in Figures 6 and 7, the base 200 has a plurality of bottom hinge portions 531, and the bottom hinge joint 320 is located between the bottom hinge portions 531 of the corresponding bottom hinge frame 530.

[0128] To improve the smoothness of rotation of the end rotating joint of the lifting assembly, as a preferred embodiment of the present invention, as shown in Figures 6 and 7, the bottom hinge portion 531 has a bottom hinge hole, a bottom bushing 540 is provided in the bottom hinge hole, and the bottom hinge shaft 340 passes through the inner hole of the bottom bushing 540.

[0129] As an optional embodiment of the present invention, as shown in Figures 6 and 7, the bottom hinge shaft 340 includes a second limiting head 341 and a second shaft body 342 coaxially connected. The lifting assembly also includes at least one second retaining ring 360. The radial dimension of the second limiting head 341 is larger than the radial dimension of the second shaft body 342. A second mating groove 343 extending around the axis of the second shaft body 342 is formed on the outer surface of the end of the second shaft body 342 away from the second limiting head 341. The second retaining ring 360 is sleeved on the second shaft body 342 and locked in the second mating groove 343. The bottom hinge portion 531 and the bottom hinge joint 320 are both located between the second limiting head 341 and the second retaining ring 360. The outer diameter of the second retaining ring 360 is larger than the inner diameter of the bottom bushing 540, thereby axially limiting the components connected to the bottom hinge shaft 340 through the second retaining ring 360.

[0130] In an optional embodiment of the present invention, the second retaining ring 360 is a spring retaining ring.

[0131] As an optional embodiment of the present invention, as shown in Figures 6 and 7, the bottom bushing 540 includes a bottom sleeve 541 and a bottom limiting edge 542 coaxially connected. The bottom sleeve 541 is disposed in the bottom hinge hole, and the outer diameter of the bottom limiting edge 542 is larger than the diameter of the bottom hinge hole.

[0132] To ensure the stability of the installation position of the bottom sleeve 541, in a preferred embodiment of the present invention, the outer diameter of the bottom sleeve 541 is larger than the diameter of the bottom hinge hole, that is, the bottom sleeve 541 and the bottom hinge hole are interference fit.

[0133] As an optional embodiment of the present invention, the material of the bottom bushing 540 includes iron or copper.

[0134] To improve transmission smoothness, the bottom bushing 540 is preferably made of copper or a copper alloy.

[0135] Optionally, the inner wall of the bottom bushing 540 is coated with a lubricant (e.g., lubricating grease).

[0136] As an optional embodiment of the present invention, as shown in Figures 10 and 11, the docking platform 100 has a plurality of positioning cones 121 on the surface of the side away from the base 200. The cross-sectional dimensions of the positioning cones 121 gradually decrease along the direction away from the base 200. The positioning cones 121 are used to cooperate with the grooves at the bottom of the material (e.g., a material handling frame) to position the material and ensure the stability of the material's position during transportation.

[0137] As an optional embodiment of the present invention, as shown in Figures 10 and 11, the surface of the docking platform 100 opposite to the base 200 has multiple camera slots, and a positioning camera 122 is provided in the camera slot. The positioning camera 122 is used to take pictures of the characteristic positions of the bottom of the material to determine the accuracy of the material position and angle, thereby improving the alignment accuracy of the material.

[0138] To improve the stability of material handover and conveying processes, as shown in Figure 11, in a preferred embodiment of the present invention, an elastic pad 123 is provided on the surface of the docking platform 100 facing away from the base 200.

[0139] As an optional embodiment of the present invention, the elastic pad 123 is a nylon pad.

[0140] As an optional embodiment of the present invention, as shown in FIG11, the elastic pad 123 has a positioning clearance through hole at the position corresponding to the positioning cone 121, and the elastic pad 123 has a camera clearance through hole at the position corresponding to the camera slot.

[0141] As a preferred embodiment of the present invention, as shown in FIG2, the docking platform 100 includes a support plate 110 and a platform 120 that are stacked and connected to each other. The lifting mechanism 300 and the guiding mechanism 400 are both fixedly connected to the support plate 110, and the platform 120 is located on the side of the support plate 110 away from the guiding mechanism 400.

[0142] As shown in Figures 4, 5, and 9, the support plate 110 has at least one hinge mounting hole 111. The hinge mounting hole 111 penetrates the support plate 110 along the thickness direction. The top hinge bracket 510 is at least partially disposed in the hinge mounting hole 111 and is fixedly connected to the inner wall of the hinge mounting hole 111.

[0143] In this embodiment of the invention, the docking platform 100 has a layered structure. The bottom support plate 110 has a hinge mounting hole 111 cut out at the location corresponding to the top hinge frame 510. The top hinge frame 510 can be set in the hinge mounting hole 111, so that the height dimension occupied by the top hinge frame 510 partially overlaps with that of the docking platform 100. This ensures the stability of the end installation of the lifting mechanism 300 while further reducing the dimension of the lifting assembly along the height direction.

[0144] As an optional embodiment of the present invention, as shown in Figures 4, 5 and 9, the top mounting plate 512 of the top hinge bracket 510 is assembled and connected to the inner wall of the mounting hole.

[0145] To further improve the installation stability of the lifting mechanism 300 end, as shown in Figures 4, 5, 6 and 9, as a preferred embodiment of the present invention, the top hinge frame 510 further includes a top positioning plate 513. One end of the top positioning plate 513 is connected to the top mounting plate 512, and the top positioning plate 513 is in contact with the surface of the support plate 110 facing the base 200.

[0146] As an optional embodiment of the present invention, as shown in FIG9, the inner wall of the hinge mounting hole 111 has a hinge mounting groove 112, and the top mounting plate 512 is at least partially accommodated in the hinge mounting groove 112.

[0147] As a preferred embodiment of the present invention, as shown in FIG9, the support plate 110 also has at least one weight reduction hole 113, which penetrates the support plate 110 along the thickness direction of the support plate 110, thereby reducing the total weight of the docking platform 100 and facilitating lightweight design.

[0148] In related technologies, AGVs typically use linear bearings or linear guides for guidance. This guidance method is costly and requires high precision in installation location. Furthermore, it occupies significant space in length, width, and height, which is another major reason why the length, width, and height dimensions of heavy-duty AGVs are difficult to meet requirements. In addition, linear bearings and linear guides require regular lubrication, increasing equipment maintenance costs.

[0149] To solve this technical problem, as a preferred embodiment of the present invention, as shown in Figures 8 and 9, the guide mechanism 400 includes a guide cylinder 410, a connecting shaft 420, and an elastic contact washer 430. The first end of the connecting shaft 420 is disposed in the guide cylinder 410 and can slide in the guide cylinder 410 along the lifting direction. The second end of the connecting shaft 420 and the elastic contact washer 430 are fixedly connected to one of the docking platform 100 and the base 200. The guide cylinder 410 is fixedly disposed on the other of the docking platform 100 and the base 200. The elastic contact washer 430 is disposed around the outside of the connecting shaft 420, and the position of the elastic contact washer 430 along the lifting direction corresponds to the position of the guide cylinder 410 along the lifting direction.

[0150] In this embodiment of the invention, the guide mechanism 400 includes a guide cylinder 410 and a connecting shaft 420. The radial limiting effect of the guide cylinder 410 on the connecting shaft 420 ensures that the connecting shaft 420 slides in the lifting direction, thus ensuring the horizontal alignment accuracy between the docking platform 100 and the base 200. When the docking platform 100 is lowered, the connecting shaft 420 can be accommodated in the guide cylinder 410, reducing the dimension of the guide mechanism 400 in the height direction. In this way, while ensuring the positional stability of the docking platform 100, the dimension of the lifting assembly in the height direction is reduced.

[0151] Furthermore, in this embodiment of the invention, an elastic contact washer 430 is provided around the outer side of the top end of the connecting shaft 420. The elastic contact washer 430 can flexibly contact the guide cylinder 410 when the docking platform 100 falls unexpectedly, thereby preventing collisions between the components in the guide mechanism 400 and improving the safety of the lifting assembly.

[0152] Optionally, the elastic contact washer 430 can be made of common soft materials such as rubber. Preferably, the elastic contact washer 430 is made of polyurethane. Polyurethane has good elasticity and is not easily damaged into particles during a collision. It can effectively absorb the collision energy of the lifting assembly while keeping the surface of the internal components of the lifting assembly clean, thus reducing maintenance costs.

[0153] As a preferred embodiment of the present invention, as shown in FIG8, the inner hole of the guide cylinder 410 includes a guide hole and a receiving hole that are coaxial and interconnected. The receiving hole is located on the side of the guide hole away from the second end of the connecting shaft 420. The cross-sectional dimension of the receiving hole is larger than the cross-sectional dimension of the guide hole. A limiting step surface a1 away from the second end of the connecting shaft 420 is formed at the connection between the guide hole and the receiving hole. A limiting head 421 is fixed at the first end of the connecting shaft 420. The limiting head 421 is accommodated in the receiving hole and can contact the limiting step surface a1.

[0154] When the lifting mechanism 300 lifts too much due to unforeseen circumstances (such as mechanical failure or sensor malfunction), the limiting head 421 can abut against the limiting step surface a1 to hard limit the maximum elongation of the guide mechanism 400, preventing the connecting shaft 420 from coming out of the guide cylinder 410 and ensuring the structural stability of the lifting assembly.

[0155] To improve the smoothness of the lifting assembly's lifting action, as a preferred embodiment of the present invention, as shown in FIG8, a guide bushing 440 is provided in the guide hole, and the connecting shaft 420 passes through the inner hole of the guide bushing 440.

[0156] As an optional embodiment of the present invention, as shown in FIG8, the guide bushing 440 includes a cylindrical body and a positioning outer edge. The outer diameter of the positioning outer edge is larger than the outer diameter of the cylindrical body. The cylindrical body is disposed in the guide hole, and the connecting shaft 420 passes through the cylindrical body.

[0157] To ensure guiding accuracy, in a preferred embodiment of the present invention, the outer diameter of the cylinder is larger than the diameter of the guide hole, that is, the guide bushing 440 and the guide hole are interference fit.

[0158] As an optional embodiment of the present invention, the guide bushing 440 may be made of iron or copper.

[0159] To improve transmission smoothness, the guide bushing 440 is preferably made of copper or a copper alloy.

[0160] Optionally, the inner wall of the guide bushing 440 is coated with a lubricant (e.g., lubricating grease).

[0161] As an optional embodiment of the present invention, the second end of the connecting shaft 420 is fixedly connected to the docking platform 100, and the guide cylinder 410 is fixedly mounted on the base 200.

[0162] As an optional embodiment of the present invention, as shown in FIG8, the guide mechanism 400 further includes a connecting plate 450. The support plate 110 has at least one connecting groove and at least one connecting hole. The connecting groove is located on the surface of the support plate 110 facing the table panel 120. The connecting hole is located at the bottom of the connecting groove and passes through the support plate 110. The connecting plate 450 is fixedly disposed in the connecting groove. The second end of the connecting shaft 420 passes through the connecting hole and is fixedly connected to the connecting plate 450.

[0163] As an optional embodiment of the present invention, as shown in FIG8, the bottom of the connecting groove also has a plurality of first mounting holes distributed around the connecting hole, and the connecting plate 450 has a plurality of first clearance holes corresponding one-to-one with the positions of the plurality of first mounting holes. The connecting plate 450 is fixedly connected to the support plate 110 by fasteners that pass through the first clearance holes and the first mounting holes in sequence.

[0164] As an optional embodiment of the present invention, as shown in FIG9, the guide cylinder 410 has a connecting flange 411 at one end away from the docking platform 100, and the connecting flange 411 is assembled and connected to the base 200.

[0165] To improve the airtightness of the guide cylinder 410, as a preferred embodiment of the present invention, as shown in FIG9, an elastic sealing gasket 460 is provided between the end of the guide cylinder 410 away from the docking platform 100 and the base 200. The elastic sealing gasket 460 has a plurality of assembly clearance holes that correspond one-to-one with the positions of a plurality of assembly holes on the connecting flange 411.

[0166] To improve the structural strength of the guide mechanism 400, as shown in Figures 8 and 9, in a preferred embodiment of the present invention, the side of the guide cylinder 410 has at least one side reinforcing rib 412 extending along the axial direction of the guide cylinder 410, and one end of the side reinforcing rib 412 is connected to the connecting flange 411.

[0167] To ensure the accuracy of the lifting height of the material by the lifting assembly, as a preferred embodiment of the present invention, as shown in Figures 2 and 3, the lifting assembly also includes a wire encoder 610. The wire encoder 610 is fixedly mounted on one of the docking platform 100 and the base 200, and the moving end of the wire encoder 610 is connected to the other of the docking platform 100 and the base 200. The wire encoder 610 can detect the feed amount of the relative movement between the docking platform 100 and the base 200, thereby achieving closed-loop control with the motor of the lifting mechanism 300, and realizing real-time detection and control of the lifting speed and position of the docking platform 100.

[0168] Specifically, since the angle of the lifting mechanism 300 changes continuously during the lifting and lowering process, when the lifting mechanism 300 drives the docking platform 100 to rise and fall at the same extension rate, the docking platform 100 is actually lifting at variable speed. Therefore, to ensure the stability of the lifting rate of the docking platform 100, the lifting mechanism 300 can be controlled at variable speed based on the height of the docking platform 100 fed back by the wire encoder 610, so as to avoid the lifting rate of the docking platform 100 being too fast and to ensure the safety of the materials. Furthermore, the feedback signal from the wire encoder 610 can also be used as a criterion for judging whether the docking platform 100 has risen and fallen to the required height. After the docking platform 100 reaches the required height, the wire encoder 610 feeds back to the main control system of the transport vehicle in real time. The main control system of the transport vehicle then controls the lifting mechanism 300 to stop moving, precisely stopping the docking platform 100 at the required height.

[0169] As an optional embodiment of the present invention, as shown in Figures 2 and 3, the pull-wire encoder 610 is fixedly mounted on the base 200, and the movable end of the pull-wire encoder 610 is connected to the docking platform 100.

[0170] To further improve the safety of material handling operations, as a preferred embodiment of the present invention, as shown in Figures 2 and 3, the lifting assembly further includes a distance detection module 620. The distance detection module 620 is used to issue an upper limit signal when it detects that the docking platform 100 has moved away from the base 200 to the upper limit position, and to issue a lower limit signal when it detects that the docking platform 100 has moved toward the base 200 to the lower limit position. The lifting mechanism 300 is used to control itself to stop moving in response to receiving the upper limit signal or the lower limit signal.

[0171] As an optional embodiment of the present invention, as shown in Figures 2 and 3, the distance detection module 620 includes an upper limit sensor 621 and a lower limit sensor 622. The upper limit sensor 621 is fixedly connected to the docking platform 100 and can generate an upper limit signal in response to the distance between itself and the base 200 being greater than a first preset distance. The lower limit sensor 622 is fixedly connected to the base 200 and can generate a lower limit signal in response to the distance between itself and the docking platform 100 being less than a second preset distance.

[0172] As an optional embodiment of the present invention, the upper limit sensor 621 and the lower limit sensor 622 are photoelectric sensors.

[0173] As an optional embodiment of the present invention, a first reflective sheet is provided on the surface of the base 200 facing the docking platform 100. The first reflective sheet is used to reflect the detection light signal emitted by the upper limit sensor 621. A second reflective sheet is provided on the surface of the docking platform 100 facing the base 200. The second reflective sheet is used to reflect the detection light signal emitted by the lower limit sensor 622.

[0174] It is understandable that when the distance detection module 620 coexists with the physical protection structure of the elastic contact washer 430 and the limiting head 421, the distance detection module 620 can be set to act before the physical protection structure. Specifically, when the lifting mechanism 300 lifts excessively, during the process of the docking platform 100 rising to the highest position, the upper limit sensor 621 first responds to the fact that the distance between itself and the base 200 is greater than the first preset distance, and generates an upper limit signal. The lifting mechanism 300 responds to receiving the upper limit signal and controls itself to stop moving. Alternatively, if the lifting mechanism 300 fails to stop moving due to a malfunction, the docking platform 100 continues to rise until the limiting head 421 abuts against the limiting step surface a1. At this time, the lifting mechanism 300 cannot continue to extend due to the physical limiting effect, and the motor of the lifting mechanism 300 engages the brake after overcurrent, causing the lifting mechanism 300 to stop moving.

[0175] When the retraction of the lifting mechanism 300 is too large, during the process of the docking platform 100 descending to the lowest position, the lower limit sensor 622 first responds to the fact that the distance between itself and the docking platform 100 is less than the second preset distance and generates a lower limit signal. Upon receiving the lower limit signal, the lifting mechanism 300 controls itself to stop moving. Alternatively, if the lifting mechanism 300 fails to stop moving due to a malfunction, the docking platform 100 continues to descend until the elastic contact washer 430 contacts the guide cylinder 410 (or guide bushing 440). At this time, the lifting mechanism 300 cannot continue to shorten due to physical limiting. The motor of the lifting mechanism 300 then engages the brake after overcurrent, causing the lifting mechanism 300 to stop moving.

[0176] As an optional embodiment of the present invention, as shown in Figures 2 and 3, the lifting assembly further includes a sensor connector 623, which extends along the lifting direction and has its first end fixedly connected to the docking platform 100. The upper limit sensor 621 is disposed at the second end of the sensor connector 623.

[0177] As an optional embodiment of the present invention, as shown in Figures 2 and 3, the lower limit sensor 622 is fixedly mounted on the side reinforcing rib 412.

[0178] As an optional embodiment of the present invention, as shown in Figures 1 and 2, the base 200 is plate-shaped and is spaced apart from the docking platform 100.

[0179] To protect the internal structure of the lifting assembly and extend its service life, as a preferred embodiment of the present invention, as shown in Figures 1, 12, and 18, the lifting assembly further includes a protective housing 210, which is fixedly mounted on the base 200 and surrounds the lifting mechanism 300 and the guide mechanism 400.

[0180] As an optional embodiment of the present invention, as shown in Figures 12 and 18, the protective housing 210 may also be provided with a display screen, an emergency stop button, and other structures.

[0181] As a preferred embodiment of the present invention, as shown in FIG18, the lifting assembly further includes a bellows cover 220. The two ends of the bellows cover 220 are connected to the docking platform 100 and the base 200 respectively, and are arranged around the lifting mechanism 300 and the guide mechanism 400. The bellows cover 220 can isolate the lifting mechanism 300 and the guide mechanism 400 from the external environment and prevent dust and other pollutants from contacting the lifting mechanism 300, the guide mechanism 400 and other precision components.

[0182] As a second aspect of the present invention, a transport vehicle is provided, the transport vehicle including a lifting assembly and a travel wheel assembly disposed at the bottom of the lifting assembly, the lifting assembly being the lifting assembly provided in the embodiments of the present invention.

[0183] In the transport vehicle provided by this invention, the lifting mechanism 300 of the lifting assembly can drive the docking platform 100 and the base 200, which are hinged at both ends, to move relative to each other under the guidance of the guide mechanism 400 through its own telescopic movement, thereby allowing the docking platform 100 to lift and lower the material above it. Furthermore, the projection positions of the two ends of the lifting mechanism 300 along the lifting direction are staggered, that is, there is an angle between the length direction of the lifting mechanism 300 and the lifting direction. Therefore, when the length of the lifting mechanism 300 is shortened, as shown in Figure 4, the lifting mechanism 300 can tilt to one side, reducing the size of the lifting mechanism 300 along the lifting direction (i.e., the height direction), thereby improving the overall compactness of the transport vehicle structure. Compared with the existing scheme of arranging electric cylinders in the vertical direction, this effectively reduces the minimum height of the transport vehicle and improves its adaptability to low-position operation scenarios.

[0184] Furthermore, the transport vehicle provided in this embodiment of the invention has a compact structure. When it carries materials for transportation and lifts materials, the center of gravity of the transport vehicle and the materials as a whole is lower, thereby ensuring the stability of the transport vehicle when carrying heavy loads of materials, and thus ensuring the safety of the transmission operation.

[0185] As an optional embodiment of the present invention, the traveling wheel assembly includes a drive mechanism, multiple drive wheels and multiple casters. The drive mechanism is used to drive the multiple drive wheels to rotate synchronously to drive the transport vehicle to move in a straight line, or to drive the multiple drive wheels to rotate at different speeds to drive the transport vehicle to turn.

[0186] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. A lifting assembly, comprising a docking platform (100), a base (200), at least one lifting mechanism (300), and at least one guide mechanism (400), wherein the docking platform (100) and the base (200) are spaced apart along a lifting direction, the lifting mechanism (300) and the guide mechanism (400) are both connected between the docking platform (100) and the base (200), the lifting mechanism (300) is used to drive the docking platform (100) closer to or further away from the base (200), and the guide mechanism (400) is used to limit the relative movement of the docking platform (100) and the base (200) to only along the lifting direction, characterized in that, The two ends of the lifting mechanism (300) are hinged to the docking platform (100) and the base (200) respectively, and the two ends of the lifting mechanism (300) are offset along the lifting direction. The lifting mechanism (300) can change its own length to drive the docking platform (100) to move relative to the base (200).

2. The lifting assembly according to claim 1, characterized in that, The lifting assembly includes a plurality of lifting mechanisms (300), the first end of the lifting mechanism (300) is hinged to the docking platform (100), and the second end of the lifting mechanism (300) is hinged to the base (200). The second ends of the plurality of lifting mechanisms (300) are distributed on both sides of the base (200) at a predetermined interval, and the first ends of the plurality of lifting mechanisms (300) are all located between the second ends of the plurality of lifting mechanisms (300), or the second ends of the plurality of lifting mechanisms (300) are all located between the first ends of the plurality of lifting mechanisms (300).

3. The lifting assembly according to claim 2, characterized in that, The lifting mechanisms (300) located on both sides along the preset interval direction intersect each other.

4. The lifting assembly according to claim 2, characterized in that, The lifting assembly includes multiple pairs of lifting mechanisms (300), with the second ends of two lifting mechanisms (300) in each pair distributed on different sides along the preset interval direction, and the multiple pairs of lifting mechanisms (300) are centrally symmetrical about the same center of symmetry.

5. The lifting assembly according to claim 2, characterized in that, The lifting mechanisms (300) are arranged in pairs, and each pair of lifting mechanisms (300) is symmetrically arranged.

6. The lifting assembly according to any one of claims 1 to 5, characterized in that, At least one top hinge portion (511) is fixedly provided on the docking platform (100), and the first end of the lifting mechanism (300) has at least one top hinge joint (310). The lifting assembly also includes at least one top hinge shaft (330), which passes through at least one top hinge portion (511) and the corresponding top hinge joint (310) to hinge the first end of the lifting mechanism (300) to the docking platform (100); and / or at least one bottom hinge portion is fixedly provided on the base (200), and the second end of the lifting mechanism (300) has at least one bottom hinge joint (320). The lifting assembly also includes at least one bottom hinge shaft (340), which passes through at least one bottom hinge portion and the corresponding bottom hinge joint (320) to hinge the second end of the lifting mechanism (300) to the base (200).

7. The lifting assembly according to claim 6, characterized in that, The docking platform (100) includes a support plate (110) and a platform (120) that are stacked and connected to each other. The lifting mechanism (300) and the guiding mechanism (400) are both fixedly connected to the support plate (110). The platform (120) is located on the side of the support plate (110) away from the guiding mechanism (400). The support plate (110) has at least one hinge mounting hole (111). The hinge mounting hole (111) penetrates the support plate (110) along the thickness direction of the support plate (110). The top hinge frame (510) is at least partially disposed in the hinge mounting hole (111) and is fixedly connected to the inner wall of the hinge mounting hole (111).

8. The lifting assembly according to any one of claims 1 to 5, characterized in that, The guiding mechanism (400) includes a guide cylinder (410), a connecting shaft (420), and an elastic contact washer (430). The first end of the connecting shaft (420) is disposed in the guide cylinder (410) and can slide in the guide cylinder (410) along the lifting direction. The second end of the connecting shaft (420) and the elastic contact washer (430) are fixedly connected to one of the docking platform (100) and the base (200). The guide cylinder (410) is fixedly disposed on the other of the docking platform (100) and the base (200). The elastic contact washer (430) is disposed around the outside of the connecting shaft (420), and the position of the elastic contact washer (430) along the lifting direction corresponds to the position of the guide cylinder (410) along the lifting direction.

9. The lifting assembly according to claim 8, characterized in that, The inner hole of the guide cylinder (410) includes a coaxial and interconnected guide hole and a receiving hole. The receiving hole is located on the side of the guide hole away from the second end of the connecting shaft (420). The cross-sectional dimension of the receiving hole is larger than that of the guide hole. A limiting step surface (a1) away from the second end of the connecting shaft (420) is formed at the connection between the guide hole and the receiving hole. A limiting head (421) is fixed at the first end of the connecting shaft (420). The limiting head (421) is accommodated in the receiving hole and can contact the limiting step surface (a1).

10. A transport vehicle, the transport vehicle comprising a lifting assembly and a travel wheel assembly disposed at the bottom of the lifting assembly, characterized in that, The lifting assembly is the lifting assembly described in any one of claims 1 to 9.

Images