Lifting device and AGV

Abstract

The lifting device comprises a base, a connecting rod mechanism, a connecting rod driving mechanism, a lifting driving mechanism and a lifting platform, the connecting rod mechanism is assembled on the base, the connecting rod mechanism comprises a driving rod and a driven rod, the lifting platform is arranged on the upper side of the connecting rod mechanism, and the connecting rod driving mechanism is assembled on the lifting platform. The driving rod is arranged on the base, so that a crank rocker structure is formed among the base, the driving rod, the lifting platform and the driven rod, the connecting rod driving mechanism drives the driving rod to swing up and down so as to enable the lifting platform to ascend or descend, and the driven rod supports the lifting platform in a follow-up mode. Lifting of the lifting platform is achieved through the connecting rod mechanism, and meanwhile the stability of the lifting platform in the moving process is maintained. Compared with the prior art, the structure and the control mode of the lifting device are simple, the lifting device is applied to the AGV, the weight of the AGV and the control complexity can be reduced, and the lifting device is particularly suitable for automatic transportation of light-load goods.

Description

Technical Field

[0001] The utility model relates to the field of automatic guided vehicles, in particular to a lifting device and an AGV. Background Art

[0002] In order to enable the AGV to dock with the workstation, a lifting device is generally provided on the AGV. The lifting device includes a lifting mechanism and a lifting platform. The lifting platform can be lifted and lowered on the AGV frame through the lifting mechanism. In the existing lifting mechanism, there are many drive motors and the driving structure is complex, which not only causes a certain weight burden on the AGV body, but also increases the manufacturing cost and control difficulty. In particular, the lifting mechanism of the current AGV is relatively complex in structure when lifting light loads, which can reduce the weight of the AGV mechanism itself and the complexity of control. This is a trend for AGV to develop towards more intelligent and practical development. At present, the lifting mechanism of the AGV is relatively complex in structure when lifting light loads. The new lifting mechanism meets the lifting and placement of goods through a simple connecting rod mechanism, which reduces costs and reduces maintenance difficulties.

[0003] According to the above, the structure of the existing lifting device for AGV needs to be further improved. Utility Model Content

[0004] The first invention purpose of the utility model is to overcome the relatively complex structure when lifting light loads. It realizes the function of lifting and placing goods through a simple connecting rod mechanism, which reduces the cost and the difficulty of maintenance.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The lifting device comprises a base, a connecting rod mechanism, a connecting rod driving mechanism, a lifting driving mechanism and a lifting platform, wherein the connecting rod mechanism is assembled on the base, the connecting rod mechanism comprises an active rod and a driven rod, and the lifting platform is arranged on the upper side of the connecting rod mechanism, so that a crank rocker structure is formed among the base, the active rod, the lifting platform and the driven rod, the connecting rod driving mechanism drives the active rod to swing up and down to make the lifting platform rise or fall, and the driven rod supports the lifting platform in a follower manner.

[0007] The utility model realizes the lifting and lowering of the lifting platform through a connecting rod mechanism, and at the same time maintains the stability of the lifting platform during movement. Compared with the prior art, the lifting device of the utility model has a simple structure and control method. When applied to AGV, it can reduce the weight of AGV itself and the complexity of control. It is particularly suitable for the automatic transportation of light cargo and can effectively reduce the manufacturing and maintenance costs.

[0008] Furthermore, the lifting drive mechanism includes a drive motor, which is arranged on the base through a motor bracket, and an output end of which is transmission-connected to the active rod. The drive motor drives the active rod to swing synchronously by rotating its motor output shaft.

[0009] Furthermore, the active rods are symmetrically provided with two, the driving motor is a dual-axis output motor, and the two output shafts of the driving motor are respectively fixedly connected to one of the active rods. This solution is conducive to reducing the number of motors while ensuring the stability of the connecting rod mechanism structure.

[0010] Furthermore, the base includes a substrate and a mounting frame, the substrate is used to connect with the AGV, the mounting frame is arranged on two opposite sides of the upper part of the base, and the connecting rod mechanism is installed on both sides of the base through the mounting frame. This scheme is a specific structural setting of the base, and the base is composed of a substrate and a mounting frame to form a concave design, which has a simple and stable structure.

[0011] Furthermore, the lifting platform is provided with a first plug-in portion with a lateral opening, and the lifting platform is plugged and connected with the receiving platform of the workstation through the first plug-in portion. The lifting platform of this solution is provided with the first plug-in portion, so that the connection between the lifting platform and the receiving platform is more stable when docking.

[0012] Furthermore, the first plug-in portion includes a plurality of slots spaced apart along the Y-axis direction, and the slots extend inward from the side portion along the X-axis direction. In this solution, when the lifting platform is docked with the receiving platform, it first rises to a position higher than the receiving platform, then descends and is inserted into the receiving platform through the first plug-in portion, so that the material falls into the receiving platform, realizing automatic unloading; the process of automatic loading is the opposite of the unloading step.

[0013] Furthermore, downwardly extending mounting plates are provided on opposite sides of the lifting platform, mounting holes are provided on the mounting plates, and the lifting platform is connected to the connecting rod mechanism via the mounting plates.

[0014] Furthermore, during the ascending process of the lifting device, the side of the lifting platform gradually protrudes out of the outer side of the base along the X-axis direction, and the lifting platform is completely stored on the base after descending and resetting.

[0015] Furthermore, the receiving platform is provided on the fixed workstation, and a second plug-in portion corresponding to the first plug-in portion is provided on the receiving platform. The receiving platform of this solution is provided on the workstation as a separate accessory of the lifting device, and is used to cooperate with the loading and unloading functions of the lifting platform.

[0016] Another invention object of the utility model is to provide an AGV, including a frame, a drive module and a lifting device of the above scheme, wherein the drive module is arranged at the lower side of the frame, and the lifting device is installed at the upper part of the frame. Compared with the prior art, the AGV of the utility model has the advantages of simple structure, low cost, easy control, etc. due to the application of the above scheme, and is particularly suitable for automatic transportation of light loads, and can effectively reduce manufacturing and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the structural diagram of the lifting device. Figure 1 ;

[0018] Figure 2 This is the structural diagram of the lifting device. Figure 2 ;

[0019] Figure 3 This is the structural diagram of the lifting device. Figure 3 ;

[0020] Figure 4 This is the structural diagram of AGV Figure 4 ;

[0021] Figure 5 This is the principle diagram of the connection between AGV and the receiving platform. Figure 1 ;

[0022] Figure 6 This is the principle diagram of the connection between AGV and the receiving platform. Figure 2 ;

[0023] Description of labels:

[0024] AGV1, frame 11, lifting device 2, lifting platform 3, mounting plate 31, mounting hole 30, first plug-in part 32, slot 33, connecting rod mechanism 4, active rod 41, driven rod 42, base 5, base plate 51, mounting frame 52, connecting rod drive mechanism 6, motor output shaft 61, rotating pin 71, nut 72, bearing 73, anti-wear gasket 74, receiving platform 8, second plug-in part 81. DETAILED DESCRIPTION

[0025] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by “up”, “down”, “left”, “right”, “horizontal”, “inside”, “outside”, etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0026] Embodiment 1:

[0027] Referring to Figures 1-6, this embodiment discloses a lifting device 2, including a base 5, a connecting rod mechanism 4, a connecting rod driving mechanism 6, a lifting driving mechanism and a lifting platform 3, wherein the connecting rod mechanism 4 is assembled on the base 5, the connecting rod mechanism 4 includes an active rod 41 and a driven rod 42, and the lifting platform 3 is arranged on the upper side of the connecting rod mechanism 4, so that a crank rocker structure is formed among the base 5, the active rod 41, the lifting platform 3 and the driven rod 42, the connecting rod driving mechanism 6 drives the active rod 41 to swing up and down to make the lifting platform 3 rise or fall, and the driven rod 42 supports the lifting platform 3 in a follower manner.

[0028] The lifting drive mechanism comprises a drive motor, which is arranged on the base 5 through a motor bracket, and an output end of which is transmission-connected to the active rod 41 . The drive motor rotates through its motor output shaft 61 to drive the active rod 41 to swing synchronously.

[0029] To maintain stability, two active rods 41 are symmetrically provided. At the same time, to reduce the number of motors, the driving motor is a dual-axis output motor, and the two output shafts of the driving motor are respectively fixedly connected to one of the active rods 41. Specifically, the lower end of the active rod 41 is fixed to the motor output shaft 61, and the end of the motor output shaft 61 is rotatably provided on the side wall of the base 5.

[0030] The base 5 includes a substrate 51 and a mounting frame 52, wherein the substrate 51 is used to connect with the AGV 1, and the mounting frame 52 is disposed on two opposite sides of the upper portion of the base 5, and the connecting rod mechanism 4 is mounted on two sides of the base through the mounting frame 52. This scheme is a specific structural setting of the base 5, wherein the base 5 is formed of a concave design consisting of the substrate 51 and the mounting frame 52, and has a simple and stable structure.

[0031] In order to achieve better docking, the lifting platform 3 is provided with a first plug-in portion 32 with a lateral opening, and the lifting platform 3 is plugged and connected with the receiving platform 8 of the workstation through the first plug-in portion 32. The lifting platform 3 of this solution is provided with the first plug-in portion 32, so that when the lifting platform 3 and the receiving platform 8 are docked, the connection is more stable.

[0032] To realize the automatic unloading function, the first plug-in portion 32 includes a plurality of slots 33 spaced apart along the Y-axis direction, and the slots 33 extend inward from the side along the X-axis direction. In this solution, when the lifting platform 3 is docked with the receiving platform 8, the first plug-in portion 32 is inserted into the receiving platform 8, so that the material falls into the receiving platform 8, realizing automatic unloading, and then the lifting platform 3 is separated from the receiving platform 8 to complete the transportation task.

[0033] Mounting plates 31 extending downward are provided on opposite sides of the lifting platform 3 . Mounting holes 30 are provided on the mounting plates 31 . The lifting platform 3 is connected to the connecting rod mechanism 4 via the mounting plates 31 .

[0034] In order to ensure a stable connection between the connecting rod mechanism 4 and the lifting platform 3, the connecting hole of the connecting rod mechanism 4 and the mounting plate 31 are fixed by a rotating pin 71 and a nut 72. A bearing 73 is provided in the mounting hole 30, and an anti-wear gasket 74 is provided between the mounting hole 30 and the connecting rod.

[0035] Furthermore, during the ascending process of the lifting device 2, the side of the lifting platform 3 gradually protrudes out of the outer side of the base 5 along the X-axis direction, and the lifting platform 3 is completely stored on the base 5 after descending and resetting.

[0036] In order to cooperate with the loading and unloading functions of the docking platform, the lifting device 2 also includes the receiving platform 8, which is arranged on a fixed workstation and has a second plug-in portion 81 corresponding to the first plug-in portion 32.

[0037] The utility model realizes the lifting and lowering of the lifting platform 3 through the connecting rod mechanism 4, and at the same time maintains the stability of the lifting platform 3 during the movement. Compared with the prior art, the lifting device 2 of the utility model has a simple structure and control method. When applied to the AGV 1, it can reduce the weight of the AGV 1 itself and the complexity of control, and is particularly suitable for the automatic transportation of light loads, which can effectively reduce the manufacturing and maintenance costs.

[0038] Embodiment 2:

[0039] See also Figure 4-6 As shown, this embodiment discloses an AGV 1, including a frame 11, a driving module and a lifting device 2 of embodiment 1, wherein the driving module is arranged at the lower side of the frame 11, and the lifting device 2 is installed at the upper part of the frame 11. Compared with the prior art, the AGV 1 of the utility model has the advantages of simple structure, low cost, easy control, etc. due to the application of the above scheme, and is particularly suitable for automatic transportation of light-loaded goods, and can effectively reduce manufacturing and maintenance costs.

[0040] According to the disclosure and teaching of the above description, the technical personnel in the field to which the utility model belongs can also change and modify the above implementation. Therefore, the utility model is not limited to the specific implementation methods disclosed and described above, and some modifications and changes to the utility model should also fall within the scope of protection of the claims of the utility model. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the utility model.

Claims

1. A lifting device (2), characterized in that: The invention comprises a base (5), a connecting rod mechanism (4), a connecting rod driving mechanism (6), a lifting driving mechanism and a lifting platform (3); the connecting rod mechanism (4) is mounted on the base (5); the connecting rod mechanism (4) comprises an active rod (41) and a driven rod (42); the lifting platform (3) is arranged on the upper side of the connecting rod mechanism (4), so that a crank rocker structure is formed between the base (5), the active rod (41), the lifting platform (3) and the driven rod (42); the connecting rod driving mechanism (6) drives the active rod (41) to swing up and down so that the lifting platform (3) rises or falls; and the driven rod (42) supports the lifting platform (3) in a follower manner.

2. The lifting device (2) according to claim 1, characterized in that: The lifting drive mechanism comprises a drive motor, which is arranged on a base (5) via a motor bracket, and an output end of which is transmission-connected to an active rod (41). The drive motor rotates via its motor output shaft (61) to cause the active rod (41) to swing synchronously.

3. The lifting device (2) according to claim 2, characterized in that: Two active rods (41) are symmetrically provided, and the drive motor is a double-shaft output motor, and the two output shafts of the drive motor are respectively fixedly connected to one of the active rods (41).

4. The lifting device (2) according to claim 1, characterized in that: The base (5) comprises a substrate (51) and a mounting frame (52), wherein the substrate (51) is used to be connected to the AGV (1), the mounting frame (52) is arranged on two opposite sides of the upper part of the base (5), and the connecting rod mechanism (4) is mounted on two sides of the base through the mounting frame (52).

5. The lifting device (2) according to claim 1, characterized in that: The lifting platform (3) is provided with a first plug-in portion (32) with a lateral opening, and the lifting platform (3) is plug-connected with a receiving platform (8) of the workstation via the first plug-in portion (32).

6. The lifting device (2) according to claim 5, characterized in that: The first plug-in portion (32) comprises a plurality of slots (33) spaced apart along the Y-axis direction, and the slots (33) extend inwardly from the side along the X-axis direction.

7. A lifting device (2) according to claim 1, 5 or 6, characterized in that: During the ascending process of the lifting device (2), the side of the lifting platform (3) gradually protrudes outward from the outside of the base (5) along the X-axis direction, and the lifting platform (3) is completely stored on the base (5) after descending and resetting.

8. The lifting device (2) according to claim 1, characterized in that: Mounting plates (31) extending downward are provided on opposite sides of the lifting platform (3), mounting holes (30) are provided on the mounting plates (31), and the lifting platform (3) is connected to the connecting rod mechanism (4) via the mounting plates (31).

9. The lifting device (2) according to claim 5 or 6, characterized in that: It also includes the receiving platform (8), which is arranged on a fixed workstation, and the receiving platform (8) is provided with a second plug-in portion (81) corresponding to the first plug-in portion (32).

10. An AGV (1), comprising a frame (11), a drive module and a lifting device (2), wherein the drive module is arranged at the lower side of the frame (11), and the lifting device (2) is installed at the upper part of the frame (11), characterized in that: The lifting device (2) is a lifting device (2) according to any one of claims 1 to 9.

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