Lifting mechanism and automatic guided vehicle

Abstract

The utility model discloses a lifting mechanism and an automatic guided vehicle. The lifting mechanism comprises a base, a driving module, a lifting connecting rod group and a bearing plate, wherein the driving module is mounted on the base; the lifting connecting rod group is mounted on the base and can be driven by the driving module; the lifting connecting rod set comprises two crank connecting rods connected to the base in a pivoted mode, a bottom connecting rod connected to the stress sections of the two crank connecting rods in a pivoted mode and two goods jacking connecting rods connected to the force output sections of the two crank connecting rods in a pivoted mode. A configuration angle ranging from 90 degrees to 180 degrees is formed on the side, away from the driving module, of the stress section and the force output section of each crank connecting rod. The bearing plate is pivoted to the two goods jacking connecting rods, and the driving module can apply force to the stress section adjacent to the driving module so as to lift the bearing plate. Accordingly, each goods jacking connecting rod can be gradually perpendicular to the goods bearing plate when rotating towards the high position, and then the torsion generating effect is improved.

Description

Technical Field

[0001] The present application relates to the field of lifting mechanisms, and in particular to a lifting mechanism and an unmanned transport vehicle operated by a crank connecting rod. Background Art

[0002] The existing lifting mechanism can be applied to devices such as unmanned guided vehicles, and the existing lifting mechanism can drive the lifting of the load board to achieve the function of lifting the goods. However, most of the existing lifting mechanisms adopt a scissor type, so a large force must be applied to lift the goods. Therefore, the applicant believes that the above defects can be improved, and has devoted himself to research and combined with the application of scientific principles, and finally proposed a reasonable design and effective improvement of the above defects. Utility Model Content

[0003] The present application provides a lifting mechanism and an unmanned guided vehicle, which can effectively improve the defects that may occur in the existing lifting mechanism.

[0004] The present application discloses a lifting mechanism, which comprises: a base; a driving module, which is installed on the base; at least one lifting connecting rod group, which is installed on the base and can be driven by the driving module; wherein at least one lifting connecting rod group comprises: two crank connecting rods, which are arranged at intervals and are each pivotally arranged on the base along a first axis, and each crank connecting rod has a force-bearing section and a force-output section; in each crank connecting rod, the force-bearing section and the force-output section can rotate synchronously with the first axis as the axis center, and the force-bearing section and the force-output section form a configuration angle greater than 90 degrees and less than 180 degrees on a side away from the driving module; a bottom connecting rod, which is connected to the force-bearing section of each crank connecting rod The two lifting connecting rods are pivotally connected to each other along a second axis; and two lifting connecting rods are pivotally connected to each other with the output section of a crank connecting rod along a third axis; and a supporting plate is pivotally connected to each other with each lifting connecting rod along a fourth axis, and each fourth axis and a first axis adjacent to it jointly define a lifting plane; wherein the driving module can apply force to the force-bearing section adjacent to it, so that at least one lifting connecting rod group drives the supporting plate to rise and fall between a low point position and a high point position; wherein, when the supporting plate is at the low point position, each third axis is located on the side of the corresponding lifting plane away from the driving module; when the supporting plate is at 113P000358CN.01

[0005] When in the high point position, each third axis is located above the corresponding lifting plane.

[0006] Optionally, the driving module includes a power source and an output connecting rod connected to the power source, and the driving module applies force to the force-bearing section adjacent to the power source through the output connecting rod.

[0007] Optionally, each crank connecting rod includes a pivoting section pivotally mounted on the base along the first axis, and the force-bearing section and the force-output section of each crank connecting rod are integrally connected to the pivoting section to form a one-piece structure.

[0008] Optionally, the number of at least one lifting link group is two, and the two lifting link groups are arranged in mirror symmetry; the lifting mechanism further includes two connecting rods, and any two force-bearing sections belonging to different lifting link groups but adjacent to each other are pivotally connected to a connecting rod along the second axis; the driving module is connected to a connecting rod adjacent to it.

[0009] Optionally, the lifting mechanism further includes at least one fixed distance connecting rod pivotally connected to the base and the object supporting plate, and the at least one fixed distance connecting rod is pivotally connected to a portion of the object supporting plate away from the driving module along a fourth axis.

[0010] Optionally, at least one fixed distance link is pivotally connected to the base along a fifth axis, and the fifth axis is located on a side of the driving module away from the at least one lifting link group.

[0011] Optionally, the first axis, the second axis, the third axis, the fourth axis and the fifth axis are parallel to each other.

[0012] Optionally, the configuration angles of the two crank connecting rods are the same and are between 120 degrees and 160 degrees; wherein, when the supporting plate is at a low point, each second axis is located on a side of the corresponding lifting plane adjacent to the drive module; when the supporting plate is at a high point, each second axis is located on a side of the corresponding lifting plane away from the drive module.

[0013] The present application also discloses a lifting mechanism, which comprises: a base; a driving module, which is installed on the base; at least one lifting connecting rod group, which is installed on the base and can be driven by the driving module; wherein at least one lifting connecting rod group comprises: two crank connecting rods, which are arranged at intervals from each other and are each pivotally arranged on the base along a first axis, and each crank connecting rod has a force-bearing section and a force-output section; in each crank connecting rod, the force-bearing section and the force-output section can rotate synchronously with the first axis as the axis center, and the force-bearing section and the force-output section form a configuration angle greater than 90 degrees and less than 180 degrees on the side facing the driving module ; a bottom connecting rod, which is pivotally connected to the force-bearing section of each crank connecting rod along a second axis; and two top connecting rods, each pivotally connected to the output section of a crank connecting rod along a third axis; and a supporting plate, which is pivotally connected to each top connecting rod along a fourth axis, and each fourth axis and a first axis adjacent to it jointly define a lifting plane; wherein the driving module can apply force to the force-bearing section adjacent to it, so that at least one lifting connecting rod group drives the supporting plate to rise and fall between a low point position and a high point position; wherein, when the supporting plate is at 113P000358CN.01

[0014] When the object-carrying plate is at the low point, each third axis is located on the side of the corresponding lifting plane adjacent to the driving module; when the object-carrying plate is at the high point, each third axis is located above the corresponding lifting plane.

[0015] Optionally, the driving module includes a power source and an output connecting rod connected to the power source, and the driving module applies force to the force-bearing section adjacent to the power source through the output connecting rod.

[0016] Optionally, each crank connecting rod includes a pivoting section pivotally mounted on the base along the first axis, and the force-bearing section and the force-output section of each crank connecting rod are integrally connected to the pivoting section to form a one-piece structure.

[0017] Optionally, the number of at least one lifting link group is two, and the two lifting link groups are arranged in mirror symmetry; the lifting mechanism further includes two connecting rods, and two output sections belonging to different lifting link groups but adjacent to each other are pivotally connected to a connecting rod along the second axis; the driving module is connected to a connecting rod adjacent to it.

[0018] Optionally, the lifting mechanism further includes at least one fixed distance connecting rod pivotally connected to the base and the object supporting plate, and the at least one fixed distance connecting rod is pivotally connected to a portion of the object supporting plate away from the driving module along a fourth axis.

[0019] Optionally, at least one fixed distance link is pivotally connected to the base along a fifth axis, and the fifth axis is located on a side of the driving module away from at least one lifting link group; wherein the first axis, the second axis, the third axis, the fourth axis, and the fifth axis are parallel to each other.

[0020] Optionally, the configuration angles of the two crank connecting rods are the same and are between 120 degrees and 160 degrees; wherein, when the supporting plate is at a low point, each second axis is located on the side of the corresponding lifting plane away from the driving module; when the supporting plate is at a high point, each second axis is located on the side of the corresponding lifting plane adjacent to the driving module.

[0021] The present application further discloses an unmanned guided vehicle, which includes the above-mentioned lifting mechanism.

[0022] Beneficial effects of the utility model

[0023] The lifting mechanism and unmanned guided vehicle disclosed in the present application configure the lifting link group (such as the crank connecting rod) so that each of the lifting links can gradually become perpendicular to the cargo plate when rotating toward the high point position, thereby effectively enhancing the effect of torque generation to reduce the burden on the drive module.

[0024] To further understand the features and technical contents of the present application, please refer to the following detailed description and drawings of the present application. However, such description and drawings are only used to illustrate the present application and are not intended to limit the scope of protection of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a three-dimensional schematic diagram of the lifting mechanism of the first embodiment of the present application when it is applied to an unmanned guided vehicle and is located at a low point.

[0026] Figure 2 This is a three-dimensional schematic diagram of the lifting mechanism of the first embodiment of the present application when it is at the high point position.

[0027] Figure 3 for Figure 1 A side view schematic diagram of the lifting mechanism.

[0028] Figure 4 for Figure 2 Schematic side view of .

[0029] Figure 5 for Figure 2 A three-dimensional schematic diagram after omitting the supporting plate.

[0030] Figure 6 for Figure 2 A three-dimensional schematic diagram from another perspective after omitting the support plate.

[0031] Figure 7 It is a three-dimensional schematic diagram of the lifting mechanism of the second embodiment of the present application when it is applied to an unmanned guided vehicle and is located at a low point.

[0032] Figure 8 It is a three-dimensional schematic diagram of the lifting mechanism of the second embodiment of the present application when it is at the high point position.

[0033] Fig. 9 for Figure 7 A side view schematic diagram of the lifting mechanism.

[0034] Fig.10 for Figure 8 Schematic side view of . DETAILED DESCRIPTION

[0035] The following is an explanation of the implementation methods of the "lifting mechanism" disclosed in this application through specific embodiments. Those skilled in the art can understand the advantages and effects of this application from the contents disclosed in this specification. This application can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the concept of this application. In addition, the drawings of this application are only simple schematic illustrations and are not depicted in actual size. It is stated in advance. The following implementation methods will further explain the relevant technical contents of this application in detail, but the disclosed contents are not intended to limit the scope of protection of this application.

[0036] It should be understood that, although the terms "first", "second", "third", etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are mainly used to distinguish one component from another component. In addition, the term "or" used herein may include any one or more combinations of the associated listed items depending on the actual situation.

[0037] Embodiment 1

[0038] See also Figures 1 to 6 As shown, it is the first embodiment of the present application. Figure 1 and Figure 2 As shown, this embodiment discloses a lifting mechanism 100, which includes a base 1, two lifting connecting rod groups 2 installed on the base 1, two connecting rods 3 connecting the two lifting connecting rod groups 2, a driving module 4 installed on the base 1 and capable of driving the two lifting connecting rod groups 2, and a lifting mechanism 100 installed on the two lifting connecting rod groups 113P000358CN.01

[0039] 2 and two fixed distance connecting rods 6 pivotally connected to the base 1 and the supporting plate 5, but the present application is not limited thereto.

[0040] For example, in other embodiments not shown in the present application, the lifting mechanism 100 may adopt at least one of the lifting connecting rod sets 2 according to actual needs, so that the lifting mechanism 100 can omit the two connecting rods 3; or, the lifting mechanism 100 may also adopt at least one of the fixed distance connecting rods 6 or omit the fixed distance connecting rods 6 according to actual needs.

[0041] In this embodiment, if Figures 3 to 6As shown, the base 1 includes a bottom plate 11, a plurality of first mounting portions 12 disposed on the bottom plate 11, and a plurality of second mounting portions 13 disposed on the bottom plate 11. The bottom plate 11 can be disposed on an unmanned guided vehicle V, a plurality of the first mounting portions 12 are disposed upright on the bottom plate 11 and are used to be pivotally connected to the two lifting link groups 2, and a plurality of the second mounting portions 13 are disposed upright on the bottom plate 11 and are used to be pivotally connected to the two fixed distance links 6, but the present application is not limited thereto. For example, in other embodiments not shown in the present application, the base 1 can also be disposed on other types of handling equipment or other equipment that needs to lift goods through the bottom plate 11. That is to say, the present embodiment also provides an unmanned guided vehicle V, which can include the lifting mechanism 100.

[0042] It should be noted that the two lifting link groups 2 are configured in a mirror-symmetrical manner in this embodiment, and the two lifting link groups 2 are connected to the two linkage rods 3, so that they can be driven by the driving module 4 to operate synchronously. Therefore, for ease of understanding, the structure of any one of the lifting link groups 2 will be introduced first, and then the corresponding relationship between the two lifting link groups 2 will be explained in due course, but the present application is not limited thereto. For example, in other embodiments not shown in the present application, the two lifting link groups 2 may also be slightly different.

[0043] The lifting connecting rod assembly 2 includes two crank connecting rods 21, a bottom connecting rod 22 pivotally connected to one end of the two crank connecting rods 21, and two lifting connecting rods 23 pivotally connected to the other ends of the two crank connecting rods 21. It should be noted that the two crank connecting rods 21 in this embodiment adopt substantially the same structure, and the two lifting connecting rods 23 also adopt substantially the same structure, but the present application is not limited thereto. For example, in other embodiments not shown in the present application, the two crank connecting rods 21 may be slightly different according to actual needs, and the two lifting connecting rods 23 may also be slightly different.

[0044] In this embodiment, the two crank connecting rods 21 are spaced apart from each other and are each pivotally mounted on the base 1 along a first axis C1 (e.g., the two crank connecting rods 21 are pivotally connected to the two first mounting portions 12, respectively). Each of the crank connecting rods 21 in this embodiment includes a pivoting section 211 and a 113P000358CN.01

[0045] The body is connected to a force-bearing section 212 and a force-outputting section 213 of the pivoting section 211 , and the force-bearing section 212 and the force-outputting section 213 have substantially the same length.

[0046] That is to say, each crank connecting rod 21 in this embodiment is described as a single-piece structure composed of the pivot section 211, the force section 212, and the output section 213, but the present application is not limited thereto. For example, in other embodiments not shown in the present application, the force section 212 and the output section 213 can be assembled with each other, and then pivotally connected to the base 1 and can rotate synchronously.

[0047] Specifically, in each crank connecting rod 21, the pivoting section 211 is pivoted on the base 1 (e.g., the first mounting portion 12) along the first axis C1, the force-bearing section 212 and the output section 213 can rotate synchronously with the first axis C1 as the axis center, and the force-bearing section 212 and the output section 213 are on a side away from the driving module 4 (e.g., Figure 3 The force-bearing section 212 and the left side of the output section 213 form a configuration angle σ that is greater than 90 degrees and less than 180 degrees.

[0048] In this embodiment, the two crank connecting rods 21 have the same orientation, and the force-bearing section 212 of each crank connecting rod 21 is closer to the bottom plate 11 than the output section 213. The force-bearing sections 212 of the two crank connecting rods 21 are approximately the same distance away from the bottom plate 11, and the output sections 213 of the two crank connecting rods 21 are also approximately the same distance away from the bottom plate 11. Furthermore, the configuration angles σ of the two crank connecting rods 21 are the same, and each configuration angle σ is preferably between 120 degrees and 160 degrees, but the present application is not limited thereto.

[0049] The bottom connecting rod 22 is in the shape of a straight bar and is pivotally connected to the force-bearing section 212 of each crank connecting rod 21 along a second axis C2; that is, the two ends of the bottom connecting rod 22 are respectively perpendicular to the two second axes C2. Furthermore, each of the lifting connecting rods 23 is in the shape of a straight bar in this embodiment and is pivotally connected to the force-bearing section 213 of a crank connecting rod 21 along a third axis C3, and each of the lifting connecting rods 23 is located on the side of the corresponding crank connecting rod 21 away from the force-bearing section 212 (e.g., Figure 3 The upper side of the crank connecting rod 21).

[0050] The above is a structural description of a single lifting link assembly 2, and the first axis C1, the second axis C2, and the third axis C3 are preferably parallel to each other. The following is a description of the two lifting link assemblies 2 and their connection relationship with respect to other components.

[0051] Furthermore, any two cargo lifting links 23 belonging to different lifting link groups 2 but adjacent to each other are connected by a rod body (not shown in the figure) in this embodiment to form an H-shaped structure.

[0052] Furthermore, any two force-bearing sections 212 belonging to different lifting link groups 2 but adjacent to each other are pivotally connected to one connecting rod 3 along the second axis C2; that is, each bottom connecting rod 22 is respectively perpendicular to the two connecting rods 3, so that the bottom connecting rods 22 of the two lifting link groups 2 are arranged in a substantially rectangular shape and substantially in a coplanar configuration with the two connecting rods 3.

[0053] The driving module 4 includes a power source 41 (such as a motor) and an output connecting rod 42 connected to the power source 41, and the driving module 4 applies force to the adjacent force-bearing section 212 through the output connecting rod 42. In this embodiment, the driving module 4 (such as the output connecting rod 42) is connected to an adjacent linkage rod 3, so that the power source 41 can synchronously drive the two lifting connecting rod groups 2 through the output connecting rod 42 and the connected linkage rod 3, but the present application is not limited to this. For example, in other embodiments not shown in the present application, the driving module 4 can also be directly connected to any of the force-bearing sections 212 to drive the corresponding lifting connecting rod group 2.

[0054] The cargo-carrying plate 5 can be used to carry cargo, and the cargo-carrying plate 5 and each cargo-lifting connecting rod 23 are pivotally connected to each other along a fourth axis C4. In other words, four parts of the cargo-carrying plate 5 are pivotally connected to the four cargo-lifting connecting rods 23 of the two lifting connecting rod assemblies 2, respectively, so that the cargo-carrying plate 5 can maintain a state of being substantially parallel to the bottom plate 11.

[0055] Furthermore, one end of each of the fixed distance connecting rods 6 is pivotally connected to a portion of the support plate 5 away from the driving module 4 along the fourth axis C4, and the other end of each of the fixed distance connecting rods 6 is pivotally connected to the base 1 (such as the second mounting portion 13) along a fifth axis C5. In other words, the two fixed distance connecting rods 6 are pivotally connected to the support plate 5 along the fourth axis C4 with the two cargo lifting connecting rods 23 away from the driving module 4.

[0056] It should be noted that the first axis C1, the second axis C2, the third axis C3, the fourth axis C4, and the fifth axis C5 are parallel to each other in this embodiment; wherein the fifth axis C5 is located on the side of the driving module 4 away from the two lifting link groups 2 (e.g.: Figure 3 and Figure 4The fifth axis C5 is preferably higher than the first axis C1, the second axis C2, the third axis C3, and the fourth axis C4, but the present application is not limited thereto.

[0057] According to the above, the driving module 4 can apply force to the adjacent force-bearing section 212 (e.g., the power source 41 can apply force to the two force-bearing sections 212 adjacent to the connecting rod 3 through the output connecting rod 42 and the connecting rod 3 connected to the output connecting rod 42), so that the two lifting sections 113P000358CN.01

[0058] The lowering connecting rod assembly 2 drives the object-carrying plate 5 to a low point position (such as: Figure 1 and Figure 3 ) and a high point position (such as: Figure 2 and Figures 4 to 6 ) between rise and fall.

[0059] Furthermore, each of the fourth axes C4 and the first axes C1 adjacent thereto jointly define a lifting plane P. When the support plate 5 is located at the low point (eg: Figure 1 and Figure 3 ), each of the third axes C3 is located on a side of the corresponding lifting plane P away from the driving module 4 (eg: Figure 3 The second axis C2 is located on the left side of the lifting plane P corresponding to the lifting plane P adjacent to the driving module 4 (eg: Figure 3 on the right side of the lifting plane P).

[0060] Furthermore, when the support plate 5 is located at the high point (eg: Figure 2 and Figures 4 to 6 ), each of the third axes C3 is located on the corresponding lifting plane P, and each of the second axes C2 is located on the side of the corresponding lifting plane P away from the driving module 4 (such as: Figure 4 On the left side of the lifting plane P).

[0061] As described above, the lifting mechanism 100 in this embodiment configures the lifting connecting rod group 2 (such as the crank connecting rod 21) so that each of the lifting connecting rods 23 can gradually become perpendicular to the supporting plate 5 when rotating toward the high point position, thereby effectively enhancing the effect of torque generation to reduce the burden on the driving module 4 (such as the motor).

[0062] Furthermore, the lifting mechanism 100 in this embodiment can further limit the configuration angle σ of the crank connecting rod 21 by the orientation and value, so that the driving module 4 drives the lifting connecting rod group 2 in a thrust manner, thereby effectively controlling the instantaneous torque required to be provided by the driving module 4 (such as the motor). For example, assuming that 1000 kg of goods are lifted by 60 millimeters (mm) in 6 seconds by the lifting mechanism 100 of this embodiment, the torque of the force shaft needs to be 520 N·m, so the motor only needs to reach an instantaneous torque of 5.2 N·m to complete the lifting of the above goods.

[0063] Embodiment 2

[0064] See also Figures 7 to 10 As shown, it is the second embodiment of the present application. Since this embodiment is similar to the first embodiment, the similarities between the two embodiments are not repeated here, and the difference between this embodiment and the first embodiment mainly lies in: the configuration of each crank connecting rod 21 and the corresponding linkage relationship derived therefrom.

[0065] In this embodiment, the force receiving section 212 and the force output section 213 are located on a side adjacent to the driving module 4 (eg: Fig. 9 The force receiving section 212 and the left side of the output section 213 form a configuration angle σ greater than 90 degrees and less than 180 degrees. Furthermore, the two crank connecting rods 21 have the same 113P000358CN.01

[0066] orientation, and the force-bearing section 212 of each crank connecting rod 21 is closer to the base plate 11 than the force-output section 213 .

[0067] The force-bearing sections 212 of the two crank connecting rods 21 are approximately the same distance away from the bottom plate 11, and the output sections 213 of the two crank connecting rods 21 are also approximately the same distance away from the bottom plate 11. Furthermore, the configuration angles σ of the two crank connecting rods 21 are the same, and each configuration angle σ is preferably between 120 degrees and 160 degrees, but the present application is not limited thereto.

[0068] Furthermore, when the support plate 5 is located at the low point (eg: Figure 7 and Fig. 9 ), each of the second axes C2 is located on a side of the corresponding lifting plane P away from the driving module 4 (eg: Fig. 9 ), and each of the third axes C3 is located on a side of the corresponding lifting plane P adjacent to the driving module 4 (eg: Fig. 9 on the right side of the lifting plane P).

[0069] Furthermore, when the support plate 5 is located at the high point (eg: Figure 8 and Fig.10 ), each of the second axes C2 is located on a side of the corresponding lifting plane P adjacent to the driving module 4 (eg: Fig.10 ), and each of the third axes C3 is located on the corresponding lifting plane P.

[0070] As described above, the lifting mechanism 100 in this embodiment configures the lifting connecting rod group 2 (such as the crank connecting rod 21) so that each of the lifting connecting rods 23 can gradually become perpendicular to the supporting plate 5 when rotating toward the high point position, thereby effectively enhancing the effect of torque generation to reduce the burden on the driving module 4 (such as the motor).

[0071] Furthermore, the lifting mechanism 100 in this embodiment can further limit the configuration angle σ of the crank connecting rod 21 by the orientation and value, so that the driving module 4 drives the lifting connecting rod group 2 in a pulling manner, thereby effectively controlling the instantaneous torque required to be provided by the driving module 4 (such as the motor). For example, assuming that 1000 kg of goods are lifted by 60 millimeters (mm) in 6 seconds by the lifting mechanism 100 of this embodiment, the torque of the force shaft needs to be 433 N·m, so the motor only needs to reach an instantaneous torque of about 4.4 N·m to complete the lifting of the above goods.

[0072] Technical effects of the embodiments of the present application

[0073] In summary, the lifting mechanism and the unmanned guided vehicle disclosed in the embodiment of the present application, through the configuration of the lifting connecting rod group (such as the crank connecting rod), can make each of the lifting connecting rods gradually perpendicular to the load-bearing plate when rotating toward the high point position, thereby effectively improving the effect of torque generation, 113P000358CN.01

[0074] To reduce the burden on the driving module.

[0075] The contents disclosed above are only preferred feasible embodiments of the present application, and are not intended to limit the patent scope of the present application. Therefore, all equivalent technical changes made using the description and drawings of the present application are included in the patent scope of the present application.

Claims

1. A lifting mechanism, characterized in that: The lifting mechanism comprises: A base; a driving module mounted on the base; At least one lifting linkage group, which is mounted on the base and can be driven by the driving module; wherein at least one of the lifting linkage groups comprises: Two crank connecting rods are arranged at intervals from each other and are each pivotally mounted on the base along a first axis, and each crank connecting rod has a force-bearing section and a force-outputting section; in each crank connecting rod, the force-bearing section and the force-outputting section can rotate synchronously with the first axis as the axis center, and the force-bearing section and the force-outputting section form a configuration angle greater than 90 degrees and less than 180 degrees on a side away from the driving module; a bottom connecting rod pivotally connected to the force-bearing section of each crank connecting rod along a second axis; and Two lifting connecting rods, each of which is pivotally connected to the output section of one of the crank connecting rods along a third axis; and A load-bearing plate, which is pivotally connected to each of the cargo-lifting connecting rods along a fourth axis, and each of the fourth axis and one of the first axes adjacent thereto jointly define a lifting plane; wherein the driving module can apply force to the force-bearing section adjacent thereto, so that at least one of the lifting connecting rod groups drives the load-bearing plate to lift between a low point position and a high point position; Wherein, when the supporting plate is located at the low point, each of the third axes is located on the side of the corresponding lifting plane away from the driving module; when the supporting plate is located at the high point, each of the third axes is located above the corresponding lifting plane.

2. The lifting mechanism according to claim 1, characterized in that: The driving module includes a power source and an output connecting rod connected to the power source, and the driving module applies force to the force-bearing section adjacent to the driving module through the output connecting rod.

3. The lifting mechanism according to claim 1, characterized in that: Each of the crank connecting rods includes a pivoting section pivotally arranged on the base along the first axis, and the force-bearing section and the force-output section of each of the crank connecting rods are integrally connected to the pivoting section to form a single-piece structure.

4. The lifting mechanism according to claim 1, characterized in that: At least one of the lifting link groups is two in number, and the two lifting link groups are arranged in mirror symmetry; the lifting mechanism further includes two connecting rods, and any two force-bearing sections belonging to different lifting link groups but adjacent to each other are pivotally connected to one connecting rod along the second axis; the driving module is connected to one of the connecting rods adjacent to it.

5. The lifting mechanism according to claim 1, characterized in that: The lifting mechanism further includes at least one fixed distance connecting rod pivotally connected to the base and the support plate, and at least one of the fixed distance connecting rods is pivotally connected to a portion of the support plate away from the driving module along the fourth axis.

6. The lifting mechanism according to claim 5, characterized in that: At least one of the fixed distance links is pivotally connected to the base along a fifth axis, and the fifth axis is located on a side of the driving module away from at least one of the lifting link groups.

7. The lifting mechanism according to claim 6, characterized in that: The first axis, the second axis, the third axis, the fourth axis, and the fifth axis are parallel to each other.

8. The lifting mechanism according to claim 1, characterized in that: The configuration angles of the two crank connecting rods are the same and are between 120 degrees and 160 degrees; wherein, when the supporting plate is located at the low point, each of the second axes is located on the side of the corresponding lifting plane adjacent to the driving module; when the supporting plate is located at the high point, each of the second axes is located on the side of the corresponding lifting plane away from the driving module.

9. A lifting mechanism, characterized in that: The lifting mechanism comprises: A base; a driving module mounted on the base; At least one lifting linkage group, which is mounted on the base and can be driven by the driving module; wherein at least one of the lifting linkage groups comprises: Two crank connecting rods are arranged at intervals from each other and are each pivotally mounted on the base along a first axis, and each crank connecting rod has a force-bearing section and a force-outputting section; in each crank connecting rod, the force-bearing section and the force-outputting section can rotate synchronously with the first axis as the axis center, and the force-bearing section and the force-outputting section form a configuration angle greater than 90 degrees and less than 180 degrees on a side facing the driving module; a bottom connecting rod pivotally connected to the force-bearing section of each crank connecting rod along a second axis; and Two lifting connecting rods, each of which is pivotally connected to the output section of one of the crank connecting rods along a third axis; and A load-bearing plate, which is pivotally connected to each of the cargo-lifting connecting rods along a fourth axis, and each of the fourth axis and one of the first axes adjacent thereto jointly define a lifting plane; wherein the driving module can apply force to the force-bearing section adjacent thereto, so that at least one of the lifting connecting rod groups drives the load-bearing plate to lift between a low point position and a high point position; Wherein, when the supporting plate is located at the low point, each of the third axes is located on the side of the corresponding lifting plane adjacent to the driving module; when the supporting plate is located at the high point, each of the third axes is located above the corresponding lifting plane.

10. The lifting mechanism according to claim 9, characterized in that: The driving module includes a power source and an output connecting rod connected to the power source, and the driving module applies force to the force-bearing section adjacent to the driving module through the output connecting rod.

11. The lifting mechanism according to claim 9, characterized in that: Each of the crank connecting rods includes a pivoting section pivotally arranged on the base along the first axis, and the force-bearing section and the force-output section of each of the crank connecting rods are integrally connected to the pivoting section to form a single-piece structure.

12. The lifting mechanism according to claim 9, characterized in that: The number of at least one lifting link group is two, and the two lifting link groups are arranged in mirror symmetry; the lifting mechanism further includes two connecting rods, and two output sections belonging to different lifting link groups but adjacent to each other are pivotally connected to one connecting rod along the second axis; the driving module is connected to one of the connecting rods adjacent to it.

13. The lifting mechanism according to claim 9, characterized in that: The lifting mechanism further includes at least one fixed distance connecting rod pivotally connected to the base and the support plate, and at least one of the fixed distance connecting rods is pivotally connected to a portion of the support plate away from the driving module along the fourth axis.

14. The lifting mechanism according to claim 13, characterized in that: At least one of the fixed distance links is pivotally connected to the base along a fifth axis, and the fifth axis is located on a side of the driving module away from at least one of the lifting link groups; wherein the first axis, the second axis, the third axis, the fourth axis, and the fifth axis are parallel to each other.

15. The lifting mechanism according to claim 9, characterized in that: The configuration angles of the two crank connecting rods are the same and are between 120 degrees and 160 degrees; wherein, when the supporting plate is located at the low point, each of the second axes is located on the side of the corresponding lifting plane away from the driving module; when the supporting plate is located at the high point, each of the second axes is located on the side of the corresponding lifting plane adjacent to the driving module.

16. An unmanned guided vehicle, characterized in that: The unmanned guided vehicle comprises a lifting mechanism according to any one of claims 1 to 8.

17. An unmanned guided vehicle, characterized in that: The unmanned guided vehicle comprises a lifting mechanism according to any one of claims 9 to 15.

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