Lifting mechanism and automatic guided vehicle

Abstract

When the lifting mechanism and the automatic guided vehicle are used, a first swing arm assembly is driven by a driving assembly to rotate, the height of a first connecting rod assembly is changed under the action of the first swing arm assembly, and the first connecting rod assembly drives a second swing arm assembly to rotate, so that the height of the second swing arm assembly is changed. The included angle between the first swing arm assembly and the second swing arm assembly is increased or decreased, under the action of the second swing arm assembly, the height of the second connecting rod assembly is changed, and due to limitation of the guide assembly, the second connecting rod assembly can only move in the vertical direction and cannot move in the horizontal direction; the goods shelf is placed on the second connecting rod assembly, and the second connecting rod assembly completes lifting of the goods shelf in the lifting process. The lateral force resistance of the lifting mechanism is better than that of a lead screw or screw lifting mechanism, heavier loads can be borne, the maintenance cost is reduced, the machining precision of all parts forming the lifting mechanism is low, and the production cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of automated handling, specifically to a lifting mechanism and an automated guided vehicle. Background Technology

[0002] Traditional warehousing and logistics operations suffer from low productivity and high labor costs due to manual operation. The emergence of AGVs has greatly solved these problems. However, existing AGV lifting mechanisms mostly use lead screws or screws for lifting. On the one hand, lead screws are difficult to manufacture, require high precision, have complex procedures, and are costly to produce. On the other hand, lead screws or screws have poor resistance to lateral forces and low load capacity. Long-term handling of heavy shelves can easily cause equipment wear and tear, increasing maintenance costs. Utility Model Content

[0003] In order to overcome the shortcomings of the existing technology, this utility model provides a lifting mechanism and an automated guided vehicle, which can solve the problem of high cost of existing AGV lifting mechanisms.

[0004] The technical solution adopted by this utility model to solve its technical problem is as follows: On the one hand, a lifting mechanism is provided, comprising:

[0005] The chassis is placed horizontally.

[0006] A drive assembly, which is mounted on the chassis;

[0007] A first swing arm assembly, one end of which is connected to the output end of the drive assembly, the drive assembly being used to drive the first swing arm assembly to rotate;

[0008] The first link assembly, the other end of the first swing arm assembly is connected to the first link assembly, and the first swing arm assembly is used to drive the first link assembly to rise and fall;

[0009] A support assembly is connected between the chassis and the first linkage assembly, and the support assembly is used to support the first linkage assembly;

[0010] The second swing arm assembly has one end connected to the first link assembly, and the first link assembly is used to drive the second swing arm assembly to rotate.

[0011] The second link assembly, the other end of the second swing arm assembly is connected to the second link assembly, the second swing arm assembly is used to drive the second link assembly to rise and fall, and the second link assembly is used to place the shelf;

[0012] A guide assembly, which is vertically mounted on the chassis, is used to guide the second link assembly in raising and lowering.

[0013] As a further improvement to the above technical solution, the drive assembly includes a motor and a reducer, wherein the stator of the motor is mounted on the chassis and its rotor is connected to the input end of the reducer.

[0014] As a further improvement to the above technical solution, the first swing arm assembly includes a motor swing arm and a first swing arm. One end of the motor swing arm is connected to the output end of the reducer, and the first swing arm is connected between the other end of the motor swing arm and the first connecting rod assembly.

[0015] As a further improvement to the above technical solution, a limit block is provided on the outer side of the motor swing arm and near the end of the first swing arm.

[0016] As a further improvement to the above technical solution, the first linkage assembly includes two oppositely arranged connecting strips and two oppositely arranged first connecting rods, and the two connecting strips and the two first connecting rods are connected in a square shape; the first swing arm assembly is connected to one of the first connecting rods.

[0017] As a further improvement to the above technical solution, the support assembly includes two support arms parallel to the length direction of the first connecting rod, and the two support arms are respectively connected to the bottom of the two first connecting rods; the chassis is provided with a lug, and the end of the support arm is hinged to the lug.

[0018] As a further improvement to the above technical solution, the second swing arm assembly includes four second swing arms arranged in a square, one end of each second swing arm being connected to the first link assembly.

[0019] As a further improvement to the above technical solution, the second linkage assembly includes a support frame and two opposing second connecting rods, the other end of the second swing arm is connected to the second connecting rods, and the support frame is fixedly installed on the two second connecting rods.

[0020] As a further improvement to the above technical solution, the guide assembly includes a wheel follower rotatably mounted on the support frame and a vertical plate fixedly mounted on the chassis. The vertical plate is provided with a guide groove arranged in the vertical direction, and the wheel follower is in rolling connection with the two side walls of the guide groove.

[0021] On the other hand, an automated guided vehicle is provided, including a horizontal moving mechanism and the aforementioned lifting mechanism, wherein the chassis is mounted on the horizontal moving mechanism, and the horizontal moving mechanism is used to drive the chassis to move in the horizontal direction.

[0022] The beneficial effects of this invention are as follows: In use, the drive assembly rotates the first swing arm assembly, causing the height of the first connecting rod assembly to change. Furthermore, the first connecting rod assembly drives the second swing arm assembly to rotate, increasing or decreasing the included angle between the first and second swing arm assemblies. Under the action of the second swing arm assembly, the height of the second connecting rod assembly changes. Due to the restriction of the guide assembly, the second connecting rod assembly can only move vertically and not horizontally. The shelf is placed on the second connecting rod assembly, which lifts the shelf during the lifting process. This lifting mechanism has better resistance to lateral forces than screw or ball screw lifting mechanisms, can withstand heavier loads, reduces maintenance costs, and the low machining precision of the components reduces production costs. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Figure 1 This is a schematic diagram of the lifting mechanism provided in a preferred embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the lifting mechanism provided in a preferred embodiment of the present invention from another angle;

[0026] Figure 3 This is a structural schematic diagram of the lifting mechanism provided in a preferred embodiment of the present invention from another angle.

[0027] Reference numerals: 1. Drive assembly; 2. First swing arm assembly; 3. First link assembly; 4. Support assembly; 5. Second swing arm assembly; 6. Second link assembly; 7. Guide assembly; 8. Chassis.

[0028] 11. Motor; 12. Reducer; 21. Motor swing arm; 22. First swing arm; 31. Connecting bar; 32. First connecting rod; 41. Support arm; 51. Second swing arm; 52. Reinforcing rib; 61. Support frame; 62. Second connecting rod; 71. Wheel follower; 72. Vertical plate; 81. Support lug.

[0029] 211, Limiting block; 721, Guide groove. Detailed Implementation

[0030] The following will clearly and completely describe the concept, specific structure, and technical effects of this utility model in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are all within the scope of protection of this utility model. Furthermore, all connections / connections involved in the patent do not simply refer to direct contact between components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. For example, fixed connections / fixed installations can use screw connections, bolt connections, pin connections, key connections, adhesive connections, mortise and tenon connections, welding, riveting, etc., as needed. For detachable connections, screw connections, bolt connections, threaded connections, snap-fit ​​connections, mortise and tenon connections, Velcro connections, etc., can be used as needed. The various technical features in this utility model can be combined interactively without contradicting each other.

[0031] Please see Figure 1-3 A preferred embodiment of this utility model provides a lifting mechanism, including a drive assembly 1, a first swing arm assembly 2, a first link assembly 3, a support assembly 4, a second swing arm assembly 5, a second link assembly 6, a guide assembly 7, and a horizontally placed chassis 8. The drive assembly 1, the support assembly 4, and the guide assembly 7 are all mounted on the chassis 8. The first swing arm assembly 2 is connected between the drive assembly 1 and the first link assembly 3, and the second swing arm assembly 5 is connected between the first link assembly 3 and the second link assembly 6. The lifting and lowering of the second link assembly 6 is ultimately achieved through the transmission between the components.

[0032] Specifically, one end of the first swing arm assembly 2 is connected to the output end of the drive assembly 1, which drives the first swing arm assembly 2 to rotate. The other end of the first swing arm assembly 2 is connected to the first link assembly 3, which drives the first link assembly 3 to rise and fall. The support assembly 4 is connected between the chassis 8 and the first link assembly 3, which supports the first link assembly 3. One end of the second swing arm assembly 5 is connected to the first link assembly 3, which drives the second swing arm assembly 5 to rotate. The other end of the second swing arm assembly 5 is connected to the second link assembly 6, which drives the second link assembly 6 to rise and fall. The second link assembly 6 is used to place the shelf. The guide assembly 7 is vertically mounted on the chassis 8, which guides the second link assembly 6 to rise and fall. In operation, the drive assembly 1 drives the first swing arm assembly 2 to rotate. Under the action of the first swing arm assembly 2, the height of the first connecting rod assembly 3 changes. Furthermore, the first connecting rod assembly 3 drives the second swing arm assembly 5 to rotate, increasing or decreasing the angle between the first swing arm assembly 2 and the second swing arm assembly 5. Under the action of the second swing arm assembly 5, the height of the second connecting rod assembly 6 changes. Due to the restriction of the guide assembly 7, the second connecting rod assembly 6 can only move vertically and not horizontally. The shelf is placed on the second connecting rod assembly 6, and the second connecting rod assembly 6 completes the lifting of the shelf during the lifting process. This lifting mechanism has better resistance to lateral forces than screw or ball screw lifting mechanisms, can withstand heavier loads, reduces maintenance costs, and the low machining precision of the components of this lifting mechanism reduces production costs.

[0033] In this embodiment, the drive assembly 1 includes a motor 11 and a reducer 12. The stator of the motor 11 is mounted on the chassis 8, and its rotor is connected to the input end of the reducer 12. The reducer 12 can amplify the torque of the motor 11, so that a large load can be driven with only a low-power motor 11, making the equipment more energy-efficient. In addition, the mechanical structure of the reducer 12 can withstand instantaneous overload, preventing the motor 11 from burning out.

[0034] The first swing arm assembly 2 includes a motor swing arm 21 and a first swing arm 22. One end of the motor swing arm 21 is connected to the output end of the reducer 12, and the first swing arm 22 is connected between the other end of the motor swing arm 21 and the first connecting rod assembly 3. The reducer 12 drives the motor swing arm 21 to rotate, which in turn drives the first swing arm 22 to rotate. The angle between the first swing arm 22 and the motor swing arm 21 changes, which in turn drives the first connecting rod assembly 3 to rise and fall. The structure is simple and easy to implement.

[0035] Furthermore, a limit block 211 is provided on the outer side of the motor swing arm 21 and near the end of the first swing arm 22. When the motor swing arm 21 and the first swing arm 22 are opened to a certain angle, the limit block 211 can abut against the first swing arm 22. At this time, the first swing arm 22 rotates to the limit position, and a hard stop point is provided by mechanical limit to prevent the mechanical structure from being overloaded or damaged.

[0036] The first linkage assembly 3 includes two oppositely arranged connecting bars 31 and two oppositely arranged first connecting rods 32. The two connecting bars 31 and the two first connecting rods 32 are connected in a square shape, and the entire first linkage assembly 3 is square in shape, which is convenient for load-bearing. The first swing arm assembly 2 is connected to one of the first connecting rods 32. Specifically, one end of the first swing arm 22 is connected to one of the first connecting rods 32. The height of the first connecting rod 32 is changed by rotating the first swing arm 22. The structure is simple and easy to implement.

[0037] The support assembly 4 includes two support arms 41 parallel to the length direction of the first connecting rod 32, with each support arm 41 connected to the lower part of the two first connecting rods 32. A lug 81 is provided on the chassis 8, and the ends of the support arms 41 are hinged to the lug 81. The support arms 41 provide support for the first connecting rods 32, facilitating the lifting of the first connecting rods 32 by the first swing arm 22. During the rotation of the first swing arm 22, the support arms 41 rotate relative to the lug 81 to accommodate changes in the height of the first connecting rods 32.

[0038] In this embodiment, the second swing arm assembly 5 includes four second swing arms 51 arranged in a square. One end of each second swing arm 51 is connected to the first connecting rod assembly 3. Specifically, the second swing arm 51 is connected to the end of the first connecting rod 32, and the second swing arm 51 rotates by the lifting and lowering of the first connecting rod 32. Furthermore, the second swing arm assembly 5 also includes two parallel reinforcing ribs 52, which are connected between adjacent second swing arms 51. The length direction of the first connecting rod 32 is parallel to the length direction of the reinforcing rib 52. The inclusion of the reinforcing ribs 52 improves the stability of the second swing arms 51 and enhances the overall load-bearing capacity.

[0039] The second linkage assembly 6 includes a support frame 61 and two opposing second connecting rods 62. The other end of the second swing arm 51 is connected to the second connecting rods 62. The support frame 61 is fixedly installed on the two second connecting rods 62. The second swing arm 51 drives the second connecting rods 62 to rise and fall, so that the support frame 61 rises and falls, thereby realizing the lifting of the shelf on the support frame 61.

[0040] In this embodiment, the guide assembly 7 includes a wheel follower 71 rotatably mounted on the support frame 61 and an upright plate 72 fixedly mounted on the chassis 8. The upright plate 72 is provided with a guide groove 721 arranged in the vertical direction. The wheel follower 71 is rolledly connected to the two side walls of the guide groove 721. During the up-and-down movement of the support frame 61, the wheel follower 71 rolls up and down along the guide groove 721 to restrict the support frame 61 to move in the vertical direction and ensure the stability of the shelf lifting on the support frame 61.

[0041] A preferred embodiment of this utility model also provides an automated guided vehicle, including a horizontal moving mechanism and a lifting mechanism as described in the above embodiment. The chassis 8 is mounted on the horizontal moving mechanism, which drives the chassis 8 to move horizontally, thereby enabling the entire lifting mechanism to move horizontally. The lifting mechanism is used to enable the shelf to move vertically. This lifting mechanism has better resistance to lateral forces than screw or ball screw lifting mechanisms, can withstand heavier loads, reduces maintenance costs, and the components of the lifting mechanism have low machining precision, thus reducing production costs.

[0042] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A lifting mechanism, characterized by include: The chassis is placed horizontally. A drive assembly, which is mounted on the chassis; A first swing arm assembly, one end of which is connected to the output end of the drive assembly, the drive assembly being used to drive the first swing arm assembly to rotate; The first link assembly, the other end of the first swing arm assembly is connected to the first link assembly, and the first swing arm assembly is used to drive the first link assembly to rise and fall; A support assembly is connected between the chassis and the first linkage assembly, and the support assembly is used to support the first linkage assembly; The second swing arm assembly has one end connected to the first link assembly, and the first link assembly is used to drive the second swing arm assembly to rotate. The second link assembly, the other end of the second swing arm assembly is connected to the second link assembly, the second swing arm assembly is used to drive the second link assembly to rise and fall, and the second link assembly is used to place the shelf; A guide assembly, which is vertically mounted on the chassis, is used to guide the second link assembly in raising and lowering.

2. A lifting mechanism according to claim 1, characterised in that: The drive assembly includes a motor and a reducer, with the stator of the motor mounted on the chassis and its rotor connected to the input end of the reducer.

3. A lifting mechanism according to claim 2, characterised in that: The first swing arm assembly includes a motor swing arm and a first swing arm. One end of the motor swing arm is connected to the output end of the reducer, and the first swing arm is connected between the other end of the motor swing arm and the first connecting rod assembly.

4. A lifting mechanism according to claim 3, characterised in that: A limit block is provided on the outer side of the motor swing arm and near the end of the first swing arm.

5. The lifting mechanism of claim 1, wherein: The first linkage assembly includes two oppositely arranged connecting strips and two oppositely arranged first connecting rods, and the two connecting strips and the two first connecting rods are connected in a square shape; the first swing arm assembly is connected to one of the first connecting rods.

6. A lifting mechanism according to claim 5, characterised in that: The support assembly includes two support arms parallel to the length direction of the first connecting rod, and the two support arms are respectively connected to the bottom of the two first connecting rods; the chassis is provided with lugs, and the ends of the support arms are hinged to the lugs.

7. The lifting mechanism of claim 1, wherein: The second swing arm assembly includes four second swing arms arranged in a square, with one end of each second swing arm connected to the first link assembly.

8. A lifting mechanism according to claim 7, characterised in that: The second linkage assembly includes a support frame and two opposing second connecting rods. The other end of the second swing arm is connected to the second connecting rods, and the support frame is fixedly mounted on the two second connecting rods.

9. A lifting mechanism according to claim 8, characterised in that: The guiding assembly includes a wheel follower rotatably mounted on the support frame and a vertical plate fixedly mounted on the chassis. The vertical plate is provided with a guide groove arranged in the vertical direction, and the wheel follower is in rolling connection with the two side walls of the guide groove.

10. An automated guided vehicle, characterized by: It includes a horizontal moving mechanism and a lifting mechanism as described in any one of claims 1-9, wherein the chassis is mounted on the horizontal moving mechanism, and the horizontal moving mechanism is used to drive the chassis to move in the horizontal direction.

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