A lifting mechanism

Abstract

This utility model discloses a lifting mechanism, relating to the field of logistics transportation equipment technology, including a lifting platform, a drive mechanism, a rotating shaft, a swing arm, a left push rod, a right push rod, a lower connecting rod, an upper connecting rod, a guide column, and guide rollers. The drive mechanism is equipped with the rotating shaft; the swing arm is connected to the rotating shaft; the left push rod and the right push rod are respectively connected to the swing arm; the left push rod is connected to the lower connecting rod and the upper connecting rod, and the right push rod is connected to the lower connecting rod and the upper connecting rod on the other side; the guide column is fixedly installed, and the guide rollers are provided on the lifting platform, with the guide rollers cooperating with the guide column. This utility model solves the problems of existing lifting mechanisms such as large space occupation, poor lifting synchronization, easy tilting, and large vertical dimensions, making them difficult to adapt to low-profile AGVs and various application scenarios.

Description

Technical Field

[0001] This utility model relates to the field of logistics and transportation equipment technology, specifically to a lifting mechanism. Background Technology

[0002] In logistics warehousing and automated transportation scenarios, AGVs often require lifting mechanisms to lift and transport goods. Currently, the power modules of most lifting mechanisms are located on the outside, resulting in a large overall structural size, occupying a lot of space, and hindering the miniaturization design of AGVs. Furthermore, existing lifting mechanisms often use a single-sided power output, which can lead to asynchronous movement between the power output side and the non-powered side during lifting. This can cause the lifting mechanism to tilt, affecting the stability of goods handling and even posing a safety hazard of goods falling. In addition, the large vertical dimensions of existing lifting mechanisms make them difficult to adapt to low-profile AGVs, limiting their use in height-restricted racks and various application scenarios. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a lifting mechanism to solve the problems of existing lifting mechanisms having large space occupation, poor lifting synchronization, easy tilting and large vertical dimensions, making it difficult to adapt to low-profile AGVs and multiple scenarios.

[0004] To solve the above problems, the technical solution provided by this utility model is as follows:

[0005] A lifting mechanism includes a lifting platform, a drive mechanism, a rotating shaft, a swing arm, a left push rod, a right push rod, a lower connecting rod, an upper connecting rod, a guide post, and guide rollers. The rotating shaft is mounted on the drive mechanism. The swing arm is connected to the rotating shaft. The left push rod and the right push rod are respectively connected to the swing arm. The left push rod is connected to the lower connecting rod and the upper connecting rod, and the right push rod is connected to the lower connecting rod and the upper connecting rod on the other side. The guide post is fixedly mounted, and the guide rollers are mounted on the lifting platform, with the guide rollers cooperating with the guide post.

[0006] The drive mechanism acts as the power source, driving the rotating shaft to rotate. The rotating shaft then drives the connected swing arm to swing. The swing of the swing arm simultaneously pushes the left and right push rods. The left and right push rods respectively push the linkage mechanism composed of the lower and upper connecting rods on both sides, causing the included angle of the connecting rods to change. The change in the included angle of the connecting rods converts the horizontal or tilting motion of the push rods into the vertical lifting motion of the lifting platform. At the same time, the guide rollers fixed to the lifting platform cooperate with the fixed guide columns to constrain the lifting platform to move only in the vertical direction, preventing horizontal deviation or torsion during lifting and ensuring smooth movement.

[0007] Optionally, the swing arm is rigidly connected to the rotating shaft, and the swing arm is capable of rotating about the axis of the rotating shaft.

[0008] This ensures that the swing arm can rotate synchronously with the pivot shaft without any delay or relative slippage, accurately and efficiently transmitting the rotational power of the drive mechanism to the subsequent push rod mechanism.

[0009] Optionally, the left push rod and the right push rod are respectively hinged to the swing arm. The left push rod can increase the angle between the lower link and the upper link, and the right push rod can increase the angle between the lower link and the upper link on the other side.

[0010] The control arm is designed to be articulated with the left and right push rods. This articulation allows the push rods, when pushed by the control arm, to not only receive forward / reverse thrust but also to adaptively adjust their angle relative to the control arm, preventing motion interference and ensuring smooth power transmission. The push rod's role is clearly defined as increasing the included angle of the connecting rod.

[0011] Optionally, the guide post is provided with a track surface, and the guide roller cooperates with the track surface.

[0012] It provides a precise and smooth guide path for the guide rollers, reduces frictional resistance, and more effectively withstands the lateral forces from the lifting platform, ensuring the accuracy and stability of vertical guidance.

[0013] Optionally, the guide column is provided with a column limiting block, and the lifting platform is provided with a matching upper limit block and lower limit block.

[0014] Mechanically limiting the lifting stroke of the lifting platform prevents it from rising too high (exceeding the design position) or falling too low (impacting the base or other components), thus providing overload protection and determining the end point of the stroke, thereby improving the safety and reliability of the equipment.

[0015] Optionally, the column limiting block can cooperate with the upper limiting block to limit the upper limit position of the lifting platform, and the column limiting block can cooperate with the lower limiting block to limit the lower limit position of the lifting platform.

[0016] The specific functions of the column limiting block in conjunction with the upper and lower limiting blocks are clearly defined. That is, it explicitly defines which limiting block is responsible for the upper limit and which for the lower limit, making the scope of protection of the claims clearer and more specific.

[0017] Optionally, the lower link cooperates with the upper link, and the change in the angle between the lower link and the upper link can drive the lifting platform to rise or fall.

[0018] The core mission of the linkage mechanism in this invention is to directly convert rotational or translational motion into the required vertical lifting motion through changes in the included angle. This is the key mechanism for achieving the lifting function of this mechanism.

[0019] Optionally, the cooperation between the guide roller and the guide post can restrict the movement of the lifting platform in the horizontal direction.

[0020] In addition to guidance, the core purpose of this coordination is to constrain the horizontal freedom of the lifting platform, preventing it from moving or swaying in any direction during off-center loading or movement, thus ensuring the straightness of the lifting trajectory and the stability of the platform.

[0021] Optionally, the drive mechanism is located inside the lifting mechanism.

[0022] By integrating the power source, the overall external size and footprint of the lifting mechanism are reduced, which helps to achieve a miniaturized and compact design of the AGV and solves the problem of large space occupation mentioned in the background technology.

[0023] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0024] Simple structure and high stability: The swing arm drives the left and right push rods to move synchronously, which drives the angle between the two sets of connecting rods to change synchronously, effectively solving the problems of asynchronous lifting and mechanism tilting caused by unilateral power, and improving the stability of the lifting process;

[0025] Small space occupation: The drive mechanism and core transmission components can be integrated inside the lifting mechanism, reducing the space occupied on the outside. At the same time, the small vertical dimension allows the AGV to be lower overall, adapting to more height-restricted shelves and application scenarios.

[0026] High safety: The stroke range of the lifting platform is clearly defined by the cooperation of the column limit block and the upper and lower limit blocks, avoiding equipment damage or safety accidents caused by overtravel. Attached Figure Description

[0027] Figure 1 A schematic diagram of a lifting mechanism proposed for an embodiment of this utility model;

[0028] Figure 2 A schematic diagram of the structure of the F-limiting component of a lifting mechanism proposed for an embodiment of this utility model;

[0029] Figure 3 A low-angle side view of a lifting mechanism proposed for an embodiment of this utility model;

[0030] Figure 4 A high-level side view of a lifting mechanism proposed for an embodiment of this utility model;

[0031] Figure 5A schematic diagram of the structure of a guide roller for a lifting mechanism proposed in an embodiment of this utility model;

[0032] Figure 6 A side cross-sectional view of the track surface of a lifting mechanism proposed in an embodiment of the present invention;

[0033] Figure 7 A cross-sectional view of the cooperation between the column limiting block and the upper limit block of a lifting mechanism proposed in an embodiment of this utility model;

[0034] Figure 8 A cross-sectional view of the engagement of a column limiting block and a lower limiting block in a lifting mechanism according to an embodiment of this utility model;

[0035] 1. Lifting platform; 1.1. Upper limit block; 1.2. Lower limit block; 2. Drive mechanism; 3. Lower connecting rod; 4. Upper connecting rod; 5. Guide column; 5.1. Track surface; 5.2. Column limit block; 9. Swing arm; 10. Left push rod; 11. Right push rod; 12. Guide roller; 13. Guide shaft; 14. Rotating shaft. Detailed Implementation

[0036] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0037] Example

[0038] Combined with appendix Figure 1-8 A lifting mechanism includes a lifting platform 1, a drive mechanism 2, a rotating shaft 14, a swing arm 9, a left push rod 10, a right push rod 11, a lower connecting rod 3, an upper connecting rod 4, a guide column 5, and guide rollers 12. The drive mechanism 2 is equipped with the rotating shaft 14. The swing arm 9 is connected to the rotating shaft 14. The left push rod 10 and the right push rod 11 are respectively connected to the swing arm 9. The left push rod 10 is connected to the lower connecting rod 3 and the upper connecting rod 4, and the right push rod 11 is connected to the lower connecting rod 3 and the upper connecting rod 4 on the other side. The guide column 5 is fixedly installed. Figure 5 The side of the lifting platform 1 is provided with guide rollers 12, which cooperate with guide columns 5. The guide rollers 12 are rotatably connected to the side of the lifting platform 1 via guide shafts 13.

[0039] In this embodiment, the drive mechanism 2 is located inside the lifting mechanism, which further reduces the overall space occupied compared to the outer side arrangement. The rotating shaft 14 is fixedly connected to the output end of the drive mechanism 2, ensuring that the drive mechanism 2 can stably drive the rotating shaft 14 to rotate. Two swing arms 9 are provided, symmetrically distributed on both sides of the rotating shaft 14. Each swing arm 9 is rigidly connected to the rotating shaft 14, ensuring the synchronicity of the swing arm 9 rotating with the rotating shaft 14. The left push rod 10 and the right push rod 11 are respectively hinged to the two swing arms 9 through hinge shafts. The hinge connection method can reduce the jamming during the movement and ensure the smoothness of the push rod movement. One end of each set of lower connecting rods 3 and upper connecting rods 4 is The left push rod 10 and the right push rod 11 are hinged to the lifting platform 1 at one end and to each other at the other. They are respectively connected to the hinge joints of the corresponding connecting rods. When the push rod pushes the hinge joint of the connecting rod, it can efficiently drive the connecting rod to change the angle. There are four guide rollers 12, which are symmetrically distributed on both sides of the lifting platform 1. Each guide roller 12 rolls with the track surface 5.1 on the guide column 5, which further enhances the constraint effect on the horizontal direction of the lifting platform 1. The column limit block 5.2 is made of wear-resistant metal material, and the upper limit block 1.1 and the lower limit block 1.2 are made of elastic buffer material. They can reduce collision impact and extend the service life of the components when in the limit engagement.

[0040] The lifting mechanism in this embodiment works as follows: When it is necessary to lift goods, the drive mechanism 2 starts and drives the rotating shaft 14 to rotate. The rotating shaft 14 drives the two swing arms 9 to rotate synchronously around the axis of the rotating shaft 14. During the rotation of the swing arms 9, the left push rod 10 and the right push rod 11 are pushed to move outward synchronously. The left push rod 10 pushes the angle between its connected lower connecting rod 3 and upper connecting rod 4 to increase, and the right push rod 11 pushes the angle between its connected lower connecting rod 3 and upper connecting rod 4 to increase. The two sets of connecting rods synchronously support the lifting platform 1, so that the lifting platform 1... The platform rises vertically along the track surface 5.1 of the guide column 5. When the upper limit block 1.1 on the lifting platform 1 contacts the column limit block 5.2 on the guide column 5, the lifting platform 1 stops rising and reaches the upper limit position. When it needs to descend, the drive mechanism 2 drives the rotating shaft 14 to rotate in the opposite direction, the swing arm 9 pulls the left and right push rods 11 to reset, the included angle between the two sets of connecting rods decreases, and the lifting platform 1 descends vertically until the lower limit block 1.2 contacts the column limit block 5.2, the lifting platform 1 stops descending, and one lifting-descending cycle is completed.

[0041] The swing arm 9 is rigidly connected to the rotating shaft 14, and the swing arm 9 can rotate about the axis of the rotating shaft 14. Because it is a rigid connection (e.g., through a key connection or interference fit), the torque generated when the rotating shaft 14 rotates is directly and without loss transmitted to the swing arm 9, forcing the swing arm 9 to undergo a strict rotational motion about the axis of the rotating shaft 14. This is the basis for realizing subsequent symmetrical push.

[0042] Combined with appendix Figure 3 , 4Left push rod 10 and right push rod 11 are hinged to the swing arm 9. Left push rod 10 increases the angle between lower link 3 and upper link 4, while right push rod 11 increases the angle between lower link 3 and upper link 4 on the other side. The hinge point provides a rotational degree of freedom. When the swing arm 9 rotates about the pivot 14, it applies a force to the push rod through the hinge point. This force can be decomposed into a component along the push rod direction (promoting linear motion of the push rod) and a component perpendicular to the push rod (borne by the hinge point). The linear motion of the push rod then drives the connected linkage mechanism, increasing the angle between lower link 3 and upper link 4, thereby achieving lifting.

[0043] Combined with appendix Figure 6 The guide column 5 is provided with a track surface 5.1, and the guide roller 12 mates with the track surface 5.1. The track surface 5.1 is a specially designed or machined surface (which may be a plane or a curved surface with a specific contour). The guide roller 12 rolls on the track surface 5.1. The geometry of the track surface 5.1 constrains the guide roller 12 (and thus the lifting platform 1) to move only along a predetermined vertical trajectory, while transmitting any horizontal force that may be generated during operation to the fixed guide column 5 through the track surface 5.1, which is ultimately absorbed by the frame.

[0044] Combined with appendix Figure 7 , 8 A column limiting block 5.2 is provided on the guide column 5, and a corresponding upper limit block 1.1 and lower limit block 1.2 are provided on the lifting platform 1. The column limiting block 5.2 is fixed at a specific height position on the guide column 5. The upper limit block 1.1 and lower limit block 1.2 are fixed on the lifting platform 1. When the lifting platform 1 rises to the highest preset position, the upper limit block 1.1 will contact or collide with the column limiting block 5.2, preventing the lifting platform 1 from rising further. Similarly, when the lifting platform 1 descends to the lowest preset position, the lower limit block 1.2 will contact or collide with the column limiting block 5.2, preventing the lifting platform 1 from descending further.

[0045] The column limiting block 5.2 can cooperate with the upper limit block 1.1 to limit the upper limit position of the lifting platform 1, and the column limiting block 5.2 can cooperate with the lower limit block 1.2 to limit the lower limit position of the lifting platform 1. The upper limit position is achieved through the mechanical interference between the upper limit block 1.1 and the column limiting block 5.2, and the lower limit position is achieved through the mechanical interference between the lower limit block 1.2 and the column limiting block 5.2.

[0046] The lower link 3 works in conjunction with the upper link 4. The change in the angle between the lower link 3 and the upper link 4 can raise or lower the lifting platform 1. The lower link 3 and the upper link 4 are connected by a hinge point, forming a variable angle. When the left and right push rods 11 are pushed outward, this angle is forced to increase. According to geometric principles, the height of the hinge point (the connection point with the lifting platform 1) will increase accordingly, thus lifting the lifting platform 1. Conversely, when the push rods are retracted and the angle decreases, the lifting platform 1 descends. This is a typical scissor-type linkage lifting principle.

[0047] The engagement between the guide roller 12 and the guide post 5 restricts the horizontal movement of the lifting platform 1. The guide post 5 is a fixed, rigid body. The guide roller 12 fits tightly against the surface (or track surface 5.1) of the guide post 5 through its rim. This engagement creates multi-point constraints on the horizontal plane, effectively limiting the possibility of movement of the lifting platform 1 in the front-back and left-right directions, allowing it to move only along the length (vertical direction) of the guide post 5.

[0048] The drive mechanism 2 is located inside the lifting mechanism. Here, "inside" typically refers to the space enclosed by the left and right push rods 11, linkage mechanisms, etc. Integrating the drive mechanism 2 (such as a motor, reducer, etc.) into this internal space, rather than suspending it outside the mechanism, fully utilizes the redundant space inside the mechanism, significantly reducing the external dimensions of the lifting mechanism in the width direction. Its operating principle is consistent with the aforementioned claims, but the optimized layout results in a more compact overall structure.

[0049] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A lifting mechanism, characterized by The device includes a lifting platform, a drive mechanism, a rotating shaft, a swing arm, a left push rod, a right push rod, a lower connecting rod, an upper connecting rod, a guide column, and guide rollers. The drive mechanism is equipped with the rotating shaft. The swing arm is connected to the rotating shaft. The left push rod and the right push rod are respectively connected to the swing arm. The left push rod is connected to the lower connecting rod and the upper connecting rod, and the right push rod is connected to the lower connecting rod and the upper connecting rod on the other side. The guide column is fixedly installed, and the guide rollers are provided on the lifting platform, with the guide rollers cooperating with the guide column.

2. A lifting mechanism according to claim 1, wherein The swing arm is rigidly connected to the rotating shaft, and the swing arm can rotate around the axis of the rotating shaft.

3. A lifting mechanism according to claim 1, wherein The left push rod and the right push rod are respectively hinged to the swing arm. The left push rod can increase the angle between the lower link and the upper link, and the right push rod can increase the angle between the lower link and the upper link on the other side.

4. The lifting mechanism of claim 1, wherein, The guide post is provided with a track surface, and the guide roller cooperates with the track surface.

5. The lifting mechanism of claim 1, wherein, The guide column is provided with a column limiting block, and the lifting platform is provided with a matching upper limit block and lower limit block.

6. A lifting mechanism according to claim 5, wherein The column limiting block can cooperate with the upper limiting block to limit the upper limit position of the lifting platform, and the column limiting block can cooperate with the lower limiting block to limit the lower limit position of the lifting platform.

7. The lifting mechanism of claim 1, wherein, The lower connecting rod cooperates with the upper connecting rod, and the change in the angle between the lower connecting rod and the upper connecting rod can drive the lifting platform to rise or fall.

8. The lifting mechanism of claim 1, wherein, The cooperation between the guide roller and the guide post can restrict the movement of the lifting platform in the horizontal direction.

9. A lifting mechanism according to any one of claims 1 to 8, wherein, The drive mechanism is located inside the lifting mechanism.

Images