Jacking mechanism, jacking assembly and carrier

Abstract

The utility model provides a jacking mechanism, jacking subassembly and van, jacking mechanism includes a plurality of jacking rod group and at least one telescopic drive part, jacking rod group includes top stay bar, bottom stay bar, first and second ejector rod that intersects, and first and second bottom bar that intersects, the first end of the first top rod and the first end of the second top rod are hinged to the first end of the second bottom rod and the first end of the first bottom rod respectively, the two ends of the top supporting rod are hinged to the first end of the first top rod and the second top rod respectively, and the two ends of the bottom supporting rod are hinged to the first end of the first bottom rod and the second bottom rod respectively. The telescopic driving part can drive the first end of the first ejector rod and the first end of the second ejector rod to get close to each other or get away from each other so as to drive the jacking rod set to conduct jacking or lowering. According to the jacking mechanism, the power requirement for the power output component and the requirement for the strength of the chassis can be lowered, and the space of the chassis can be saved.

Description

Technical Field

[0001] The utility model relates to the field of robots, and specifically, to a lifting mechanism for a carrier vehicle, a lifting assembly including the lifting mechanism, and a carrier vehicle including the lifting assembly. Background Art

[0002] An Automated Guided Vehicle (AGV), also known as an automated guided carrier vehicle or an automatic guided carrier vehicle, is one of the main equipment for factories to achieve automated material transportation. With the increasing automation applications of AGV cars, the performance requirements for AGV cars in application scenarios such as production workshops and warehousing storages are also increasing. An AGV car usually includes a carrying platform, a chassis, a lifting mechanism, and a traveling assembly. Among them, the carrying platform is used to carry materials, the lifting mechanism is arranged between the carrying platform and the chassis, and is used to drive the carrying platform to move up and down relative to the chassis, and then drive the materials to move up and down to complete the lifting action. The traveling assembly is arranged at the bottom of the chassis and is used to drive the AGV car to travel horizontally.

[0003] With the requirements of the application scenario for the lifting stroke length of the AGV car, in order to ensure the elongation amount in the vertical direction of the lifting mechanism, it is usually necessary to drive the corresponding rod to rotate by using a high-torque power output component (such as a motor) arranged on the chassis. On the one hand, it improves the power requirement for the power output component, on the other hand, it also increases the stress at the position of the chassis corresponding to the power output component, improves the requirement for the chassis strength, and in addition, it also occupies the space for arranging structures such as circuits on the chassis, which is not conducive to the compactification and miniaturization of the AGV car.

[0004] Therefore, how to provide a lifting mechanism that can reduce the power requirement for the power output component and the requirement for the chassis strength, and can save the chassis space has become an urgent technical problem in this field. Summary of the Utility Model

[0005] The utility model aims to solve one of the technical problems in the related technologies to a certain extent. For this purpose, the utility model provides a lifting mechanism for a carrier vehicle, which can reduce the power requirement for the power output component and the requirement for the chassis strength, and can save the chassis space.

[0006] To achieve the above object, as an aspect of the present utility model, a lifting mechanism for a handling truck is provided, which includes a plurality of lifting rod groups and at least one telescopic driving part. The lifting rod group includes a top support rod, a bottom support rod, a first top rod and a second top rod which are cross - arranged, and a first bottom rod and a second bottom rod which are cross - arranged. The first ends of the first top rod and the second top rod are respectively hinged to the first end of the second bottom rod and the first end of the first bottom rod. The two ends of the top support rod are respectively hinged to the first end of the first top rod and the second top rod. The two ends of the bottom support rod are respectively hinged to the first end of the first bottom rod and the second bottom rod;

[0007] Top hinge seats are provided at the second ends of the first top rod and the second top rod, and bottom hinge seats are provided at the second ends of the first bottom rod and the second bottom rod;

[0008] The telescopic driving part can drive the first ends of the first top rod and the second top rod to approach or move away from each other, so as to drive the lifting rod group to lift or lower.

[0009] Optionally, the first top rod and the first bottom rod are arranged in parallel, the second top rod and the second bottom rod are arranged in parallel, and the top support rod and the bottom support rod are arranged in parallel.

[0010] Optionally, hinge holes are provided at both ends of the first top rod, the second top rod, the first bottom rod, the second bottom rod, the top support rod and the bottom support rod. The first end of the first top rod and the first end of the second bottom rod are hinged and connected by a pin shaft passing through the hinge holes at the corresponding ends of the two. The first end of the second top rod and the first end of the first bottom rod are hinged and connected by a pin shaft passing through the hinge holes at the corresponding ends of the two;

[0011] The second ends of the first top rod and the second top rod are respectively hinged and connected by a pin shaft passing through the corresponding top hinge seats and the corresponding hinge holes. The second ends of the first bottom rod and the second bottom rod are respectively hinged and connected by a pin shaft passing through the corresponding bottom hinge seats and the corresponding hinge holes.

[0012] Optionally, a top support hole is formed in the second top rod, and a bottom support hole is formed in the second bottom rod; One end of the top support rod is hinged and connected to the first end of the first top rod by a pin shaft, and the other end of the top support rod is hinged and connected to the second bottom rod by a pin shaft passing through the bottom support hole and the corresponding hinge hole; One end of the bottom support rod is hinged and connected to the first end of the first bottom rod by a pin shaft, and the other end of the bottom support rod is hinged and connected to the second top rod by a pin shaft passing through the top support hole and the corresponding hinge hole.

[0013] Optionally, the cross-sections of the first top rod, the second top rod, the first bottom rod, the second bottom rod, the top strut rod, and the bottom strut rod are all rectangular, and the rods that are hinged to each other are stacked in the thickness direction at the hinge positions, and the hinge holes penetrate through the corresponding rods in the thickness direction.

[0014] Optionally, the top hinge seat has top hinge parts arranged in pairs on both sides of the second end of the corresponding rod in the thickness direction of the first top rod and the second top rod. A top hinge through hole is formed in the top hinge part, and the top hinge seat is hingedly connected to the corresponding rod through a pin shaft passing through the top hinge through hole and the corresponding hinge hole;

[0015] The bottom hinge seat has bottom hinge parts arranged in pairs on both sides of the second end of the corresponding rod in the thickness direction of the first bottom rod and the second bottom rod. A bottom hinge through hole is formed in the bottom hinge part, and the bottom hinge seat is hingedly connected to the corresponding rod through a pin shaft passing through the bottom hinge through hole and the corresponding hinge hole.

[0016] Optionally, the lifting rod groups are arranged at intervals in pairs;

[0017] The lifting mechanism further includes a first pin shaft, the first pin shaft is connected between the lifting rod groups, and the first end of the first top rod is hingedly connected to the first end of the second bottom rod through the first pin shaft.

[0018] Optionally, the lifting mechanism further includes a second pin shaft, the second pin shaft is connected between the lifting rod groups, and the first end of the second top rod is hingedly connected to the first end of the first bottom rod through the second pin shaft.

[0019] Optionally, the telescopic driving part is connected between the first pin shaft and the second pin shaft, and can drive the first pin shaft and the second pin shaft to approach or move away from each other, so as to drive the lifting rod group to lift or lower.

[0020] Optionally, the telescopic driving part includes a telescopic member, a first sleeve, and a second sleeve. The first sleeve and the second sleeve are respectively fixedly connected to both ends of the telescopic member. The first sleeve is sleeved on the first pin shaft, and the second sleeve is sleeved on the second pin shaft. The telescopic member can change its own length to drive the first pin shaft and the second pin shaft to approach or move away from each other.

[0021] Optionally, the telescopic member is an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.

[0022] Optionally, the lifting rod groups are arranged at intervals in pairs, and the telescopic driving part is arranged between the lifting rod groups;

[0023] The telescopic driving part includes a first connecting seat, a second connecting seat, a lead screw nut structure, and a jacking driving part. Among them, one first end of the first ejector rod and the second ejector rod is hinged to the first connecting seat, and one first end of the other of the first ejector rod and the second ejector rod is hinged to the second connecting seat;

[0024] The first connecting seat is fixedly connected to the nut end of the lead screw nut structure;

[0025] The jacking driving part is arranged on the second connecting seat and connected to the lead screw end of the lead screw nut structure. The jacking driving part can drive the lead screw nut structure to drive the first connecting seat to approach or move away from the second connecting seat.

[0026] Optionally, the first connecting seat includes a bushing and an output seat. Both sides of the output seat are fixedly connected to the bushing and the nut end of the lead screw nut structure respectively;

[0027] The jacking mechanism further includes a first pin shaft. The first pin shaft is connected between the jacking rod groups, and the first end of the first ejector rod is hinged to the first end of the second bottom rod through the first pin shaft. The bushing is sleeved on the first pin shaft; or,

[0028] The jacking mechanism further includes a second pin shaft. The second pin shaft is connected between the jacking rod groups, and the first end of the second ejector rod is hinged to the first end of the first bottom rod through the second pin shaft. The bushing is sleeved on the first pin shaft.

[0029] Optionally, the second connecting seat includes a driving mounting block and hinge parts fixedly connected to both sides of the driving mounting block. The hinge parts are hinged to the first ends of the ejector rods in the corresponding side of the jacking rod groups. The jacking driving part is fixedly arranged on the side of the driving mounting block facing away from the first connecting seat. The driving mounting block has an avoidance through hole, and the driving shaft of the jacking driving part passes through the avoidance through hole and is connected to the lead screw end of the lead screw nut structure.

[0030] As the second aspect of the present invention, a jacking assembly for a handling vehicle is provided. The jacking assembly includes a chassis, a carrying platform, and the jacking mechanism provided by the present invention. A plurality of top hinge seats of the jacking mechanism are fixedly arranged on the side of the carrying platform facing the chassis, and a plurality of bottom hinge seats of the jacking mechanism are fixedly arranged on the side of the chassis facing the carrying platform.

[0031] Optionally, the top hinge seat and the carrying platform are integrally formed.

[0032] Optionally, the bottom hinge seat and the chassis are integrally formed.

[0033] As a third aspect of the utility model, a transport vehicle is provided, which includes a traveling assembly and a lifting assembly provided by the utility model, wherein the traveling assembly is arranged on a side of the chassis of the lifting assembly away from the supporting platform, and the traveling assembly can drive the lifting assembly to move horizontally.

[0034] Optionally, the traveling assembly includes a driving module, a plurality of driving wheels and a plurality of universal wheels, and the driving module is used to drive the plurality of driving wheels to rotate synchronously to drive the transport vehicle to move in a straight line, or to drive the plurality of driving wheels to rotate differentially to drive the transport vehicle to turn.

[0035] In the jacking mechanism, jacking assembly and transport vehicle provided by the utility model, the telescopic driving part is connected between the hinged position of the first top rod and the second bottom rod and the hinged position of the first bottom rod and the second top rod, and the jacking action is completed by driving the jacking rod group through the pulling force. Compared with the existing solution of driving the bottom rod to rotate by the motor driving the swing arm and other structures, it can effectively reduce the power requirements of the power output components such as the motor;

[0036] In addition, the telescopic drive part is located between the upper and lower ends of the jacking rod group. In the transport vehicle, the telescopic drive part is suspended above the chassis instead of being set on the chassis, so that the chassis does not have to bear the reverse torque generated when the power output component works, which reduces the requirements for the chassis strength and can also free up a large amount of space on the chassis to set circuit structures, sensors, output and input interfaces and other structures, which is conducive to realizing the compactness and miniaturization of the transport vehicle.

[0037] Moreover, in the utility model, the telescopic driving part drives the jacking rod group through the pulling force to complete the jacking action. During the pulling process, the pulling force can be automatically maintained in the direction of the line connecting the two intersection positions. Compared with the existing solution of achieving jacking by pushing, there is no need to ensure the stability of the jacking direction through an additional guide structure, which can not only reduce the manufacturing cost of the transport vehicle, but also further save chassis space and improve the structural compactness of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The utility model is further described below in conjunction with the accompanying drawings:

[0039] Figure 1 It is a structural schematic diagram of a jacking assembly provided by an embodiment of the utility model;

[0040] Figure 2 It is a simplified structural schematic diagram of a jacking rod group in a jacking mechanism provided in an embodiment of the utility model;

[0041] Figure 3 It is a schematic diagram of the retracted state of the lifting assembly provided by the embodiment of the utility model;

[0042] Figure 4 It is a schematic diagram of the jacking state of the jacking assembly provided by an embodiment of the present utility model;

[0043] Figure 5 It is a schematic diagram of the disassembled structure of the jacking assembly provided by an embodiment of the present utility model;

[0044] Figure 6 It is a schematic diagram of the structure of the telescopic driving part in the jacking mechanism provided by an embodiment of the present utility model;

[0045] Figure 7 It is a schematic diagram of the structure of the jacking assembly provided by another embodiment of the present utility model;

[0046] Figure 8 It is a schematic diagram of the structure of the telescopic driving part in the jacking mechanism provided by another embodiment of the present utility model.

[0047] Explanation of reference numerals:

[0048] 100, jacking rod group; 111, first jacking rod; 112, second jacking rod; 121, first bottom rod; 122, second bottom rod; 131, top support rod; 132, bottom support rod; 140, top hinge seat; 141, top hinge part; 150, bottom hinge seat; 151, bottom hinge part; 161, first pin shaft; 162, second pin shaft; 200, telescopic driving part; 210, telescopic member; 211, jacking rod; 212, cylinder block; 213, motor; 220, first sleeve; 230, second sleeve; 250, first connecting seat; 251, bushing; 252, output seat; 260, second connecting seat; 261, driving mounting block; 262, hinge part; 263, avoidance through hole; 270, lead screw nut structure; 280, jacking driving member; 10, carrying platform; 20, chassis. Detailed description of the specific implementation

[0049] The embodiments of the present utility model are described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. Based on the embodiments in the implementation manner, it is intended to explain the present utility model and should not be construed as a limitation to the present utility model.

[0050] The phrase "in one embodiment" as cited in this specification does not necessarily refer to the same embodiment at each occurrence.

[0051] To solve the above technical problems, the present utility model provides a jacking mechanism for a handling vehicle (AGV vehicle), such as Figure 1 、Figure 2 As shown in the figure, the jacking mechanism includes a plurality of jacking rod groups 100 and at least one telescopic driving part 200. The jacking rod group 100 includes a top support rod 131, a bottom support rod 132, a first top rod 111 and a second top rod 112 that are cross - arranged, and a first bottom rod 121 and a second bottom rod 122 that are cross - arranged. The first ends of the first top rod 111 and the second top rod 112 are respectively hinged to the first end of the second bottom rod 122 and the first end of the first bottom rod 121. The two ends of the top support rod 131 are respectively hinged to the first end of the first top rod 111 and the second top rod 112. The two ends of the bottom support rod 132 are respectively hinged to the first end of the first bottom rod 121 and the second bottom rod 122;

[0052] Top hinge seats 140 are provided at the second ends of the first top rod 111 and the second top rod 112. The top hinge seats 140 are used for fixedly connecting with the carrying platform 10 of the handling vehicle. Bottom hinge seats 150 are provided at the second ends of the first bottom rod 121 and the second bottom rod 122. The bottom hinge seats 150 are used for fixedly connecting with the chassis 20 of the handling vehicle;

[0053] The telescopic driving part 200 can drive the first ends of the first top rod 111 and the second top rod 112 to approach or move away from each other, so as to drive the jacking rod group 100 to jack up or lower.

[0054] It can be understood that in the normal use state, as Figure 1 shown in the figure, the first top rod 111 and the second top rod 112 are located above the first bottom rod 121 and the second bottom rod 122. The top hinge seat 140 is used for fixedly connecting with the bottom surface of the carrying platform 10 of the AGV cart. The bottom hinge seat 150 is used for fixedly connecting with the top surface of the chassis 20 of the AGV cart.

[0055] In the jacking mechanism provided by the present utility model, the first top rod 111 and the second top rod 112 are cross - arranged, and the top hinge seats 140 at their tops are connected to the same carrying platform 10 and remain fixed. When the telescopic driving part 200 pulls the hinged points (i.e., the first ends of the first top rod 111 and the second top rod 112) connected to its two sides to approach each other, as Figures 3 to 4 shown in the figure, the tops and bottoms of the first top rod 111 and the second top rod 112 approach each other, so that the lateral dimension of the first top rod 111 and the second top rod 112 shortens and the longitudinal dimension increases. The top support rod 131, the second top rod 112 and the telescopic driving part 200 form a triangular structure to achieve a stable rod group state and prevent the rod group from swaying.

[0056] The movement modes of the first bottom rod 121, the second bottom rod 122 and the bottom support rod 132 are similar to the former, so as Figures 3 to 4As shown in the figure, the height of the jacking rod group 100 increases as the telescopic driving part 200 shortens, so as to lift the carrying platform 10 and the materials supported by the multiple jacking rod groups 100 to complete the jacking action. The action of the telescopic driving part 200 extending to lower the carrying platform 10 supported by the jacking rod group 100 is similar to the principle of the jacking action, which will not be elaborated here.

[0057] In the present utility model, the telescopic driving part 200 is connected between the hinged position of the first top rod 111 and the second bottom rod 122 and the hinged position of the first bottom rod 121 and the second top rod 112, and drives the jacking rod group 100 to complete the jacking action through tension. Compared with the existing scheme of driving the bottom rod to rotate by driving the swing arm and other structures with a motor, the power requirement for power output components such as motors can be effectively reduced;

[0058] Moreover, the telescopic driving part 200 is located between the upper and lower ends of the jacking rod group 100. When installed in the transporter, the telescopic driving part 200 is suspended above the chassis 20 instead of being arranged on the chassis 20. Therefore, the chassis 20 does not have to bear the reverse torque generated when the power output component does work, reducing the requirement for the strength of the chassis 20, and a large amount of space can also be vacated on the chassis 20 to arrange other structures such as circuit structures, sensors, output and input interfaces, which is beneficial to the compactification and miniaturization of the transporter.

[0059] Furthermore, in the present utility model, the telescopic driving part 200 drives the jacking rod group 100 to complete the jacking action through tension. During the pulling process, the tension can automatically remain along the direction of the connection line of the two hinged positions. Compared with the existing scheme of realizing jacking through pushing, there is no need to ensure the stability of the jacking direction through an additional guiding structure. Therefore, not only the manufacturing cost of the transporter can be reduced, but also the space of the chassis 20 can be further saved, and the structural compactness of the transporter can be improved;

[0060] In addition, the first top rod 111 and the second top rod 112 are cross - arranged but have no hinged connection relationship, and the first bottom rod 121 and the second bottom rod 122 are also cross - arranged but have no hinged connection relationship. Therefore, when the telescopic driving part 200 pulls the two hinged points on both sides, the middle part of the jacking rod group 110 contracts inward, while the top ends of the first top rod 111 and the second top rod 112 and the bottom ends of the first bottom rod 121 and the second bottom rod 122 remain unchanged. Thus, the jacking rod group 110 has a fixed connection relationship with both the carrying platform 10 and the chassis 20, improving the position stability between the jacking rod group 110 and the other structures of the transporter, and further ensuring the stability of the transporter when transporting and jacking materials.

[0061] As an alternative embodiment of the present utility model, as Figures 1 to 4 、 Figure 7As shown, the first top rod 111 is arranged in parallel with the first bottom rod 121, the second top rod 112 is arranged in parallel with the second bottom rod 122, and the top support rod 131 is arranged in parallel with the bottom support rod 132. Thus, as Figure 1 , Figure 2 shown, the top support rod 131, the second top rod 112, the bottom support rod 132, and the second bottom rod 122 together form a parallelogram structure. The telescopic driving part 200 pulls the two diagonals of the parallelogram structure to deform the parallelogram, and further drives the longitudinal telescopic movement of the jacking rod group 100.

[0062] As an alternative embodiment of the present invention, the rods are hinged through a pin shaft structure passing through the holes drilled at their ends. Specifically, as Figures 1 to 4 , Figure 7 shown, both ends of the first top rod 111, the second top rod 112, the first bottom rod 121, the second bottom rod 122, the top support rod 131, and the bottom support rod 132 have hinge holes. The first end of the first top rod 111 is hingedly connected to the first end of the second bottom rod 122 through a pin shaft passing through the corresponding hinge holes at their ends. The first end of the second top rod 112 is hingedly connected to the first end of the first bottom rod 121 through a pin shaft passing through the corresponding hinge holes at their ends;

[0063] The second end of the first top rod 111 and the second end of the second top rod 112 are respectively hingedly connected through a pin shaft passing through the corresponding top hinge seat 140 and the corresponding hinge hole. The second end of the first bottom rod 121 and the second end of the second bottom rod 122 are respectively hingedly connected through a pin shaft passing through the corresponding bottom hinge seat 150 and the corresponding hinge hole.

[0064] As an alternative embodiment of the present invention, as Figures 1 to 4 , Figure 7 shown, a top support hole is formed in the second top rod 112, and a bottom support hole is formed in the second bottom rod 122; One end of the top support rod 131 is hingedly connected to the first end of the first top rod 111 through a pin shaft, and the other end of the top support rod 131 is hingedly connected to the second bottom rod 122 through a pin shaft passing through the bottom support hole and the corresponding hinge hole; One end of the bottom support rod 132 is hingedly connected to the first end of the first bottom rod 121 through a pin shaft, and the other end of the bottom support rod 132 is hingedly connected to the second top rod 112 through a pin shaft passing through the top support hole and the corresponding hinge hole.

[0065] As an alternative embodiment of the present invention, the cross-sections of the first top rod 111, the second top rod 112, the first bottom rod 121, the second bottom rod 122, the top support rod 131, and the bottom support rod 132 are all rectangular, and the rods that are hinged to each other are stacked in the thickness direction at the hinge positions. The hinge holes penetrate the corresponding rods in the thickness direction, that is, as Figure 1 , Figure 5 shown, each rod is a flat structure.

[0066] As an alternative embodiment of the present utility model, as Figure 1 shown, the top hinge seat 140 has top hinge portions 141 arranged in pairs on both sides of the second ends of the corresponding rods along the thickness direction of the first top rod 111 and the second top rod 112. A top hinge through hole is formed in the top hinge portion 141. The top hinge seat 140 is hingedly connected to the corresponding rod through a pin shaft passing through the top hinge through hole and the corresponding hinge hole;

[0067] The bottom hinge seat 150 has bottom hinge portions 151 arranged in pairs on both sides of the second ends of the corresponding rods along the thickness direction of the first bottom rod 121 and the second bottom rod 122. A bottom hinge through hole is formed in the bottom hinge portion 151. The bottom hinge seat 150 is hingedly connected to the corresponding rod through a pin shaft passing through the bottom hinge through hole and the corresponding hinge hole.

[0068] To improve the smoothness of the lifting and lowering of the load-bearing platform 10 driven by the lifting mechanism, as a preferred embodiment of the present utility model, as Figure 5 shown, the lifting mechanism further includes a first pin shaft 161. The first pin shaft 161 is connected between the lifting rod groups 100, and the first end of the first top rod 111 is hingedly connected to the first end of the second bottom rod 122 through the first pin shaft 161.

[0069] In the embodiment of the present utility model, the hinge points between the adjacent lifting rod groups 100 corresponding to the connection points of the telescopic driving part 200 can be connected to each other through pin shafts, so that the movement strokes of the two sides of the lifting rod groups 100 tend to be consistent, and further improve the consistency of the top heights of the two sides of the lifting rod groups 100, ensuring the smoothness of the lifting and lowering of the load-bearing platform 10 driven by the lifting mechanism.

[0070] To further improve the smoothness of the lifting and lowering of the load-bearing platform 10 driven by the lifting mechanism, as a preferred embodiment of the present utility model, as Figure 5 shown, the lifting mechanism further includes a second pin shaft 162. The second pin shaft 162 is connected between the lifting rod groups 100, and the first end of the second top rod 112 is hingedly connected to the first end of the first bottom rod 121 through the second pin shaft 162.

[0071] As a preferred embodiment of the present utility model, as Figure 1 、 Figure 5 shown, the telescopic driving part 200 is connected between the first pin shaft 161 and the second pin shaft 162, and can drive the first pin shaft 161 and the second pin shaft 162 to approach or move away from each other to drive the lifting rod groups 100 to lift or lower.

[0072] In the embodiment of the utility model, the hinge points of the lifting rod groups 100 on both sides are connected to each other through the first pin shaft 161 and the second pin shaft 162, and the lifting rod groups 100 on both sides are driven by the same telescopic driving part 200 connected between the first pin shaft 161 and the second pin shaft 162, which further ensures the consistency of the movement stroke of the lifting rod groups 100 on both sides, ensures that the top heights of the lifting rod groups 100 on both sides are raised and lowered synchronously, and further improves the stability of the lifting mechanism driving the load-bearing platform 10 to lift and lower.

[0073] Alternatively, if Figure 1 , Figure 5 As shown, the lifting rod groups 100 are arranged in pairs at intervals, and the first pin shaft 161 and the second pin shaft 162 are connected between the lifting rod groups 100 arranged at intervals. Alternatively, in other embodiments of the utility model, three or more lifting rod groups 100 may be arranged at intervals in sequence and connected together through the same first pin shaft 161 and the second pin shaft 162.

[0074] As an optional implementation of the present invention, Figure 1 , Figure 6 As shown, the telescopic drive unit 200 includes a telescopic member 210, a first sleeve 220 and a second sleeve 230. The first sleeve 220 and the second sleeve 230 are respectively fixedly connected to the two ends of the telescopic member 210. The first sleeve 220 is sleeved on the first pin shaft 161, and the second sleeve 230 is sleeved on the second pin shaft 162. The telescopic member 210 can change its own length to drive the first pin shaft 161 and the second pin shaft 162 to move closer to or away from each other.

[0075] As an optional implementation of the present invention, the telescopic member 210 is an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0076] In other embodiments of the present invention, the telescopic member 210 also includes other linear motion pairs such as a linear motor, which will not be described in detail here.

[0077] As an optional implementation of the present invention, Figure 6 As shown, the telescopic member 210 is an electric cylinder, and the end of the electric cylinder's push rod 211 away from the cylinder body 212 is fixedly connected to the first sleeve 220, and the end of the electric cylinder's cylinder body 212 away from the push rod is fixedly connected to the second sleeve 230. The motor 213 of the electric cylinder can drive the lead screw inside the electric cylinder to rotate through the transmission structure inside the electric cylinder to drive the push rod 211 to telescopic movement.

[0078] Alternatively, in other embodiments of the present invention, the telescopic member 210 may also be a cylinder body 212 fixedly connected to the first sleeve 220 , and a push rod 211 fixedly connected to the second sleeve 230 .

[0079] As another alternative embodiment of the present utility model, the jacking rod groups 100 are arranged at intervals in pairs, and the telescopic driving part 200 is arranged between the jacking rod groups 100;

[0080] As Figure 7 , Figure 8 shown in

[0081] One end of the first jacking rod 111 or the second jacking rod 112 is hinged to the first connecting seat 250, and one end of the other of the first jacking rod 111 and the second jacking rod 112 is hinged to the second connecting seat 260;

[0082] The first connecting seat 250 is fixedly connected to the nut end of the lead screw nut structure 270;

[0083] As an alternative embodiment of the present utility model, as Figure 8 shown in

[0084] The first connecting seat 250 includes a bushing 251 and an output seat 252. The bushing 251 is sleeved on the first pin 161, and both sides of the output seat 252 are fixedly connected to the bushing 251 and the nut end of the lead screw nut structure 270 respectively;

[0085] The jacking mechanism further includes a first pin 161. The first pin 161 is connected between the jacking rod groups 100, and the first end of the first jacking rod 111 is hinged to the first end of the second bottom rod 122 through the first pin 161, and the bushing 251 is sleeved on the first pin 161; or,

[0086] The jacking mechanism further includes a second pin 162. The second pin 162 is connected between the jacking rod groups 100, and the first end of the second jacking rod 112 is hinged to the first end of the first bottom rod 121 through the second pin 162, and the bushing 251 is sleeved on the second pin 162.

[0087] As an alternative embodiment of the present utility model, as Figure 8As shown, the second connection seat 260 includes a driving mounting block 261 and hinge portions 262 fixedly connected to both sides of the driving mounting block 261. The hinge portions 262 are hingedly connected to the first ends of the ejector rods in the corresponding side lifting rod group 100. The lifting driving member 280 is fixedly arranged on the side of the driving mounting block 261 facing away from the first connection seat 250. The driving mounting block 261 is provided with an avoidance through hole 263. The driving shaft of the lifting driving member 280 passes through the avoidance through hole 263 and is connected to the lead screw end of the lead screw nut structure 270.

[0088] For example, when the second connection seat 260 is connected to the second ejector rod 112 as Figure 8 shown, the hinge portion 262 is hingedly connected to the first ends of the second ejector rod 112 and the first end of the first bottom rod 121 in the corresponding side lifting rod group 100;

[0089] When the second connection seat 260 is connected to the first ejector rod 111, the hinge portion 262 is hingedly connected to the first ends of the first ejector rod 111 and the first end of the second bottom rod 122 in the corresponding side lifting rod group 100.

[0090] As the second aspect of the present invention, a lifting assembly for a handling vehicle is provided. As Figure 1 shown, the lifting assembly includes a chassis 20, a carrying platform 10, and the lifting mechanism provided by the present invention. A plurality of top hinge seats 140 of the lifting mechanism are fixedly arranged on the side of the carrying platform 10 facing the chassis 20, and a plurality of bottom hinge seats 150 of the lifting mechanism are fixedly arranged on the side of the chassis 20 facing the carrying platform 10.

[0091] In the lifting assembly provided by the present invention, the telescopic driving portion 200 is connected between the hinge positions of the first ejector rod 111 and the second bottom rod 122 and the hinge positions of the first bottom rod 121 and the second ejector rod 112, and drives the lifting rod group 100 to complete the lifting action through tension. Compared with the existing scheme of driving a swing arm and other structures by a motor to drive the bottom rod to rotate, the power requirement for power output components such as motors can be effectively reduced;

[0092] Moreover, the telescopic driving portion 200 is located between the upper and lower ends of the lifting rod group 100. In the handling vehicle, the telescopic driving portion 200 is suspended above the chassis 20 instead of being arranged on the chassis 20. Therefore, the chassis 20 does not have to bear the reverse torque generated when the power output component does work, reducing the requirement for the strength of the chassis 20, and a large amount of space can also be vacated on the chassis 20 to arrange other structures such as circuit structures, sensors, input / output interfaces, etc., which is beneficial to the compactification and miniaturization of the handling vehicle.

[0093] Moreover, in the present invention, the telescopic driving part 200 drives the lifting rod group 100 through pulling force to complete the lifting action. During the pulling process, the pulling force can be automatically maintained in the direction of the line connecting the two intersection positions. Compared with the existing solution of achieving lifting by pushing, there is no need to ensure the stability of the lifting direction through an additional guide structure, thereby not only reducing the manufacturing cost of the transport vehicle, but also further saving the space of the chassis 20 and improving the structural compactness of the transport vehicle.

[0094] In order to improve the relative position stability between the top articulated seat 140 and the bearing platform 10 and further improve the movement stability of the jacking assembly, as a preferred embodiment of the utility model, the top articulated seat 140 and the bearing platform 10 are formed as one body.

[0095] In order to improve the relative position stability between the bottom hinge seat 150 and the chassis 20 and further improve the movement stability of the lifting assembly, as a preferred embodiment of the present invention, the bottom hinge seat 150 and the chassis 20 are formed as one body.

[0096] As the third aspect of the utility model, a transport vehicle (i.e., an AGV cart) is provided, which includes a traveling component and a lifting component provided by the utility model. The traveling component is arranged on the side of the chassis 20 of the lifting component away from the supporting platform 10, and the traveling component can drive the lifting component to move horizontally.

[0097] In the transport vehicle provided by the present invention, the telescopic driving part 200 is connected between the hinged position of the first top rod 111 and the second bottom rod 122 and the hinged position of the first bottom rod 121 and the second top rod 112, and the lifting action is completed by driving the lifting rod group 100 through tension. Compared with the existing solution of driving the bottom rod to rotate by a motor-driven swing arm and other structures, the power requirement for the power output components such as the motor can be effectively reduced;

[0098] Furthermore, the telescopic drive unit 200 is located between the upper and lower ends of the lifting rod group 100. In the transport vehicle, the telescopic drive unit 200 is suspended above the chassis 20 instead of being arranged on the chassis 20. Therefore, the chassis 20 does not have to bear the reverse torque generated when the power output component works, which reduces the strength requirements of the chassis 20 and can also free up a large amount of space on the chassis 20 to set other structures such as circuit structures, sensors, and output and input interfaces, which is conducive to realizing the compactness and miniaturization of the transport vehicle.

[0099] Moreover, in the present invention, the telescopic driving part 200 drives the lifting rod group 100 through pulling force to complete the lifting action. During the pulling process, the pulling force can be automatically maintained in the direction of the line connecting the two intersection positions. Compared with the existing solution of achieving lifting by pushing, there is no need to ensure the stability of the lifting direction through an additional guide structure, thereby not only reducing the manufacturing cost of the transport vehicle, but also further saving the space of the chassis 20 and improving the structural compactness of the transport vehicle.

[0100] As an optional embodiment of the present invention, the traveling assembly includes a driving module, multiple driving wheels and multiple universal wheels, and the driving module is used to drive the multiple driving wheels to rotate synchronously to drive the transport vehicle to move in a straight line, or drive the multiple driving wheels to rotate differentially to drive the transport vehicle to turn.

[0101] It is understandable that the travel component may also include a control module and a sensor for controlling the automatic driving of the transport vehicle, for example, a controller for controlling the drive module to adjust the speed of the driving wheel, a radar for feeding back guidance information to the controller, a barcode scanner, etc. The utility model does not make specific limitations on this.

[0102] The above are only specific embodiments of the present invention, but the protection scope 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 drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention shall be included in the scope of the claims.

Claims

1. A lifting mechanism for a handling vehicle, characterized in that, It includes multiple jacking rod groups (100) and at least one telescopic driving part (200). The jacking rod group (100) includes a top support rod (131), a bottom support rod (132), a first top rod (111) and a second top rod (112) arranged crosswise, and a first bottom rod (121) and a second bottom rod (122) arranged crosswise. The first ends of the first top rod (111) and the second top rod (112) are respectively hinged to the first end of the second bottom rod (122) and the first end of the first bottom rod (121). The two ends of the top support rod (131) are respectively hinged to the first end of the first top rod (111) and the second top rod (112). The two ends of the bottom support rod (132) are respectively hinged to the first end of the first bottom rod (121) and the second bottom rod (122). Top hinge seats (140) are arranged at the second ends of the first top rod (111) and the second top rod (112). Bottom hinge seats (150) are arranged at the second ends of the first bottom rod (121) and the second bottom rod (122). The telescopic driving part (200) can drive the first ends of the first top rod (111) and the second top rod (112) to approach or move away from each other, so as to drive the jacking rod group (100) to jack up or lower down.

2. The jacking mechanism according to claim 1, wherein The jacking mechanism further includes a first pin shaft (161). The first pin shaft (161) is connected between the jacking rod groups (100), and the first end of the first top rod (111) is hinged to the first end of the second bottom rod (122) through the first pin shaft (161).

3. The jacking mechanism according to claim 2, wherein, The jacking mechanism further includes a second pin shaft (162). The second pin shaft (162) is connected between the jacking rod groups (100), and the first end of the second top rod (112) is hinged to the first end of the first bottom rod (121) through the second pin shaft (162). The telescopic driving part (200) is connected between the first pin shaft (161) and the second pin shaft (162), and can drive the first pin shaft (161) and the second pin shaft (162) to approach or move away from each other, so as to drive the jacking rod group (100) to jack up or lower down.

4. The jacking mechanism according to claim 3, characterized in that, The telescopic driving part (200) includes a telescopic member (210), a first sleeve (220) and a second sleeve (230). The first sleeve (220) and the second sleeve (230) are respectively fixedly connected to the two ends of the telescopic member (210). The first sleeve (220) is sleeved on the first pin shaft (161). The second sleeve (230) is sleeved on the second pin shaft (162). The telescopic member (210) can change its own length to drive the first pin shaft (161) and the second pin shaft (162) to approach or move away from each other.

5. The lifting mechanism according to claim 4, wherein The telescopic member (210) is an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

6. The jacking mechanism according to claim 1, wherein, The jacking rod groups (100) are arranged at intervals in pairs, and the telescopic driving part (200) is arranged between the jacking rod groups (100). The telescopic driving part (200) includes a first connecting seat (250), a second connecting seat (260), a lead screw nut structure (270) and a jacking driving part (280). Among them, the first end of one of the first ejector rod (111) and the second ejector rod (112) is hinged to the first connecting seat (250), and the first end of the other of the first ejector rod (111) and the second ejector rod (112) is hinged to the second connecting seat (260); The first connecting seat (250) is fixedly connected to the nut end of the lead screw nut structure (270); The jacking driving part (280) is arranged on the second connecting seat (260) and connected to the lead screw end of the lead screw nut structure (270). The jacking driving part (280) can drive the lead screw nut structure (270) to drive the first connecting seat (250) to approach or move away from the second connecting seat (260).

7. The jacking mechanism according to claim 6, wherein, The first connecting seat (250) includes a bushing (251) and an output seat (252). The two sides of the output seat (252) are respectively fixedly connected to the bushing (251) and the nut end of the lead screw nut structure (270); The jacking mechanism further includes a first pin shaft (161). The first pin shaft (161) is connected between the jacking rod groups (100), and the first end of the first ejector rod (111) is hinged to the first end of the second bottom rod (122) through the first pin shaft (161). The bushing (251) is sleeved on the first pin shaft (161); or, The jacking mechanism further includes a second pin shaft (162). The second pin shaft (162) is connected between the jacking rod groups (100), and the first end of the second ejector rod (112) is hinged to the first end of the first bottom rod (121) through the second pin shaft (162). The bushing (251) is sleeved on the first pin shaft (161).

8. The jacking mechanism according to claim 6, characterized in that, The second connecting seat (260) includes a driving mounting block (261) and hinge parts (262) fixedly connected to both sides of the driving mounting block (261). The hinge parts (262) are hinged to the first ends of the ejector rods in the corresponding side of the jacking rod group (100). The jacking driving part (280) is fixedly arranged on the side of the driving mounting block (261) facing away from the first connecting seat (250). The driving mounting block (261) has an avoidance through hole (263). The driving shaft of the jacking driving part (280) passes through the avoidance through hole (263) and is connected to the lead screw end of the lead screw nut structure (270).

9. A lifting assembly for a handling vehicle, characterized in that, The jacking assembly includes a chassis (20), a bearing platform (10) and the jacking mechanism according to any one of claims 1 to 8. A plurality of top hinge seats (140) of the jacking mechanism are fixedly arranged on the side of the bearing platform (10) facing the chassis (20), and a plurality of bottom hinge seats (150) of the jacking mechanism are fixedly arranged on the side of the chassis (20) facing the bearing platform (10).

10. A transporter, characterized in that, The transporter includes a traveling assembly and the lifting assembly described in claim 9. The traveling assembly is disposed on a side of the chassis (20) of the lifting assembly facing away from the carrying platform (10), and the traveling assembly can drive the lifting assembly to move horizontally.

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