Lifting mechanism and guided transport vehicle

Abstract

A lifting mechanism, comprising: a chassis (100); a bearing assembly (200) which is arranged on the chassis and comprises a support plate (210), two upper support members (220), two lower support members (230) and two transverse connecting rods (240); a power assembly (300) which is mounted on the chassis and located on any end side of the two transverse connecting rods and comprises a power device (310) and a driving arm (320), wherein a first end (321) of the driving arm is rotationally connected to the closest first rotating shaft (600), and a second end (322) thereof is rotationally connected to the power device; and an auxiliary support structure (500) which comprises a support housing (510) and a connecting arm (520), wherein the support housing is mounted on the chassis and is opposite the power device, and the connecting arm is arranged between the power device and the support housing, with a first end of the connecting arm being rotationally connected to the support housing, and a second end of the connecting arm being connected to the second end of the driving arm and moving along with the second end of the driving arm. Further provided is a guided transport vehicle.

Description

[0001] The present application claims the priority of a Chinese Patent Application No. 202321448903.7 filed with the State Intellectual Property Office of People's Republic of China on June 07, 2023 and entitled "Lifting Mechanism and Guided Transport Vehicle", which is incorporated herein by reference in its entirety.Technical Field

[0002] The present application relates to the field of intelligent logistics technology, and in particular, to a lifting mechanism and a guided transport vehicle.Background

[0003] AGV (Automated Guided Vehicle) refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical devices, capable of traveling along a prescribed guidance path, and having safety protection and various transfer functions. It belongs to the category of WMR (Wheeled Mobile Robot).

[0004] In related technologies, AGV generally includes a lifting mechanism to lift goods to different heights. The lifting mechanism mainly includes a chassis, a load-bearing member with adjustable height, and a power device. The power device generally includes a motor and a drive arm. The motor output shaft is rotated to drive the drive arm to move, thereby driving the load-bearing member to lift or lower.

[0005] However, in practical applications, as shown in Fig. 1, the motor output shaft 91 is generally used in a cantilevered manner and needs to withstand extremely high combined bending and torsional loads during movement, wherein the radial load needs to be borne by the proximal bearing 92 and the distal bearing 93 inside the motor 90. Due to the cantilevered arrangement characteristic, the proximal bearing 92 bears nearly more than twice the radial load, and the distal bearing 93 bears more than once the radial load, leading to a high probability of structural fracture issues, and thereby resulting in lower load capacity of the lifting mechanismSummary

[0006] The purpose of the embodiments of the present application is to provide a lifting mechanism and a guided transport vehicle to improve the load capacity of the lifting mechanism. The specific technical solutions are as follows: Embodiments of a first aspect of the present application provide a lifting mechanism, including: a chassis; a load-bearing assembly which is disposed on the chassis, and includes: a support plate, two upper support members, two lower support members, and two transverse connecting rods, wherein upper ends of the two upper support members are rotatably installed to an underside of the support plate, lower ends of the two upper support members are rotatably connected to upper ends of the two lower support members via two first rotating shafts respectively, lower ends of the two lower support members are rotatably installed on the chassis, the two transverse connecting rods are rotatably connected to both ends of the two first rotating shafts respectively, such that the two first transverse connecting rods are arranged parallel to each other; a power assembly, which is installed on the chassis, and is located on either end side of the two transverse connecting rods, wherein the power assembly includes a power device and a drive arm, a first end of the drive arm is rotatably connected to one of the two first rotating shaft that is closer to the drive arm, a second end of the drive arm is rotatably connected to the power device, the drive arm, driven by the power device, pushes the transverse connecting rods to move away from the power device, so as to lift the support plate; an auxiliary support structure, including a support base and a connecting arm, wherein the support base is installed on the chassis and arranged opposite to the power device, the connecting arm is disposed between the power device and the support base, a first end of the connecting arm is rotatably connected to the support base, and a second end of the connecting arm is connected to the second end of the drive arm and is configured to move along with the second end of the drive arm.

[0007] The lifting mechanism according to the embodiments of the present application may further have the following technical features: In some embodiments of the present application, the power device includes a motor, an output shaft of the motor is connected to a crank, wherein an end of the crank is provided with a crank output shaft, the second end of the drive arm is rotatably connected to the crank output shaft, and an end of the crank output shaft is connected to the second end of the connecting arm.

[0008] In some embodiments of the present application, the support base is provided with an installation hole, the installation hole is coaxial with the output shaft of the motor, the first end of the connecting arm is provided with a shaft portion, the shaft portion is rotatably installed within the installation hole via a bearing, the second end of the connecting arm is provided with a bearing hole, and the crank output shaft extends into the bearing hole.

[0009] In some embodiments of the present application, the auxiliary support structure further includes a bearing pressure plate, the bearing pressure plate is fixed on the support base and is abutted against a side of an outer ring of the bearing that faces away from the power assembly.

[0010] In some embodiments of the present application, the auxiliary support structure further includes a connecting arm pressure plate, the connecting arm pressure plate is installed on an end face of the shaft portion and is abutted against a side of an inner ring of the bearing that faces away from the power assembly.

[0011] In some embodiments of the present application, the auxiliary support structure further includes a pin connector and a threaded connector, the pin connector is configured to position the support base, and the threaded connector is configured to fix the support base on the chassis.

[0012] In some embodiments of the present application, the lifting mechanism further includes a limiting assembly, the limiting assembly includes at least one limiting post and at least one limiting pull rod, the limiting post is fixed on the chassis, one end of the limiting pull rod is rotatably connected to the limiting post, and the other end of the limiting pull rod is rotatably installed to an underside of the support plate.

[0013] In some embodiments of the present application, two limiting pull rods are provided, the two limiting pull rods are located on two sides of the support plate respectively; two limiting posts are provided, and are located on two sides of the support plate respectively, wherein one end of each of the two limiting pull rods is rotatably connected to one of the two limiting posts that is located on the same side of the support plate respectively.

[0014] In some embodiments of the present application, the support plate includes a plate body and at least four columns located at the bottom of the plate body, the at least four columns are rotatably connected to the upper ends of the two upper support members respectively.

[0015] In the embodiments of the present application, the drive arm, driven by the power device, can push the transverse connecting rod to move away from the power device, so as to lift the support plate. Different from the related art, the second end of the drive arm is not only rotatably connected to the power device, but also rotatably connected to the second end of the connecting arm of the auxiliary support structure. Thus, the power device in the embodiments of the present application is not used in a cantilevered manner but is supported at both ends. During movement, the radial load applied by the second end of the drive arm to the rotational connection can be shared by the power device and the auxiliary support structure. That is, the power device and the auxiliary support structure each bear a portion of the radial load. This can reduce the radial load borne by the power device, mitigate the issue of the power device being prone to fracture, and thereby help to improve the load-bearing capacity of the lifting mechanism.

[0016] Embodiments of a second aspect of the present application provide a guided transport vehicle, including the lifting mechanism according to any one of the embodiments of the first aspect.

[0017] According to the guided transport vehicle in the embodiments of the present application, since the guided transport vehicle includes the lifting mechanism of the first aspect, the guided transport vehicle also has the beneficial effects of any one of the embodiments of the first aspect, which will not be repeated here.

[0018] Of course, implementing any product of the present application does not necessarily require achieving all the advantages mentioned above simultaneously.Brief Description of the Drawings

[0019] The accompanying drawings described herein are used to provide a further understand of the present application and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. Fig.1 is a force analysis diagram of a power device of a lifting mechanism in the related art; Fig.2 is a perspective schematic diagram of a lifting mechanism according to the embodiments of the present application; Fig.3 is a perspective schematic diagram of the lifting mechanism shown in Fig.2 without a support plate installed; Fig.4 is a side view of the lifting mechanism shown in Fig.2 (without an auxiliary support structure); Fig.5 is a schematic diagram of the arrangement of an auxiliary support structure, a drive arm and a power device according to the embodiments of the present application; Fig.6 is a perspective schematic diagram of an auxiliary support structure according to the embodiments of the present application; Fig.7 is an exploded view of the auxiliary support structure shown in Fig.6; Fig.8 is a force analysis diagram of the power device of the lifting mechanism shown in Fig.2; Fig.9 is a structural schematic diagram of a drive arm according to the embodiments of the present application. Description of reference numerals:

[0020] In Fig.1: Motor 90; Motor output shaft 91; Proximal bearing 92; Distal bearing 93;

[0021] In Figs. 2-9: Lifting mechanism 10; Chassis 100; Load-bearing assembly 200; Support plate 210; Plate body 211; Column 212; Upper support piece 220; First connection portion 221; First connection lug 222; Second connection lug 223; Lower support piece 230; Transverse connecting rod 240; Power assembly 300; Power device 310; Motor 311; Motor output shaft 3111; Proximal bearing 3112; Distal bearing 3113; Crank 312; Crank output shaft 3121; Drive arm 320; First end of drive arm 321; Second end of drive arm 322; First through hole 323; Second through hole 324; Transition portion 325; Limiting assembly 400; Limiting pull rod 410; Limiting post 420; Auxiliary support structure 500; Support base 510; Installation hole 511; First avoidance hole 512; Second avoidance hole 513; Connecting arm 520; First end of connecting arm 521; Second end of connecting arm 522; Shaft portion 523; Bearing hole 524; Bearing 530; Bearing pressure plate 540; Connecting arm pressure plate 550; Screw 560; Cylindrical pin 570; First rotating shaft 600; Second rotating shaft 610; Third rotating shaft 620; Fourth rotating shaft 630.Detailed Description

[0022] To make the purposes, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the embodiments described herein are only some of the embodiments of the present application, not all of them. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art fall within the scope of protection of the present application.

[0023] As shown in Fig.1, in the lifting mechanism of the related art, the motor output shaft 91 is generally used in a cantilevered manner, and needs to withstand extremely high combined bending and torsional loads during movement, wherein the radial load needs to be borne by the proximal bearing 92 and the distal bearing 93 inside the motor 90. Due to the cantilevered arrangement characteristic, the proximal bearing 92 bears nearly more than twice the radial load, and the distal bearing 93 bears more than once the radial load, leading to a high probability of structural fracture issues, and thereby resulting in lower load capacity of the lifting mechanism.

[0024] In view of this, as shown in Figs. 2 to 4, the embodiments of a first aspect of the present application provides a lifting mechanism 10 for a guided transport vehicle, including: a chassis 100, a load-bearing assembly 200, and a power assembly 300. The load-bearing assembly 200 is disposed on the chassis 100 and includes a support plate 210, two upper support members 220, two lower support members 230, and two transverse connecting rods 240. The upper ends of the two upper support members 220 are rotatably installed to an underside of the support plate 210. The lower ends of the two upper support members 220 are rotatably connected to the upper ends of the two lower support members 230 via two first rotating shafts 600 respectively. The lower ends of the two lower support members 230 are rotatably installed on the chassis 100. The two transverse connecting rods 240 are rotatably connected to both ends of the two first rotating shafts 600 respectively, such that the two first transverse connecting rods 240 are arranged parallel to each other. The power assembly 300 is installed on the chassis 100 and located on either end side of the two transverse connecting rods 240. The power assembly 300 includes a power device 310 and a drive arm 320. The first end 321 of the drive arm 320 is rotatably connected to one of the two first rotating shafts 600 that is closer to the drive arm 320, the second end of the drive arm 320 is rotatably connected to the power device 310. The drive arm 320 is configured to, when driven by the power device 310, push the transverse connecting rods 240 to move away from the power device 310, so as to lift the support plate 210. An auxiliary support structure 500 includes a support base 510 and a connecting arm 520. The support base 510 is installed on the chassis 100 and arranged opposite to the power device 310. The connecting arm 520 is disposed between the power device 310 and the support base 510. The first end 521 of the connecting arm 520 is rotatably connected to the support base 510. The second end 522 of the connecting arm 520 is connected to the second end 322 of the drive arm 320 and is configured to move along with the second end 322 of the drive arm 320.

[0025] In the embodiments of the present application, the drive arm 320 can be configured to, when driven by the power device 310, push the transverse connecting rods 240 to move away from the power device 310, so as to lift the support plate 210. Different from the related art, the second end 322 of the drive arm 320 is not only rotatably connected to the power device 310, but also rotatably connected to the second end 522 of the connecting arm 520 of the auxiliary support structure 500. Thus, the power device 310 in the embodiments of the present application is not used in a cantilevered manner but is supported at both ends. During movement, the radial load applied by the second end of the drive arm 320 can be shared by the power device 310 and the auxiliary support structure 500. That is, the power device 310 and the auxiliary support structure 500 each bear a portion of the radial load. This can reduce the radial load borne by the power device 310, mitigate the issue of the power device 310 being prone to fracture, and thereby help to improve the load-bearing capacity of the lifting mechanism 10.

[0026] Additionally, under high-load conditions, the service life of the lifting mechanism 10 is limited by the structural strength and load-bearing capacity of the power device 310. Therefore, by providing the auxiliary support structure 500 to reduce the radial load borne by the power device 310, it is also beneficial to extend the service life of the lifting mechanism 10.

[0027] As shown in Figs. 3 and 5, in the embodiments of the present application, the power device 310 includes a motor 311. A motor output shaft 3111 is connected to a crank 312. An end of the crank 312 is provided with a crank output shaft 3121. The second end 322 of the drive arm 320 is rotatably connected to the crank output shaft 3121. An end of the crank output shaft 3121 is connected to the second end 522 of the connecting arm 520. In the embodiments of the present application, as shown in Fig.4, the crank 312, the drive arm 320, and one of the lower support members 230 that is close to the power device 310 can form a crank-rocker mechanism. The motor 311 drives the crank 312 to rotate, thereby driving the drive arm 320 to move, and then pushing the transverse connecting rods 240 to move away from the motor 311, such that the upper support piece 220 and the lower support piece 230 are gradually transitioned from an inclined state to a vertical state, thereby lifting the support plate 210. The lowering process is the opposite of the lifting process. As the crank 312 continues to rotate, the drive arm 320 drives the transverse connecting rods 240 to move toward the motor 311. Meanwhile, the two upper support members 220 and the two lower support members 230 are gradually returned from the vertical state to the inclined state, thereby lowering the support plate 210.

[0028] In the embodiments of the present application, the drive arm 320, driven by the crank 312, pushes the transverse connecting rods 240 to move away from the motor 311, so as to lift the support plate 210. Thus, the lifting mechanism 10 converts the thrust of the power device 310 into a lifting force to achieve lifting. During the process of lifting the support plate 210, one end of the transverse connecting rod 240 is subjected to the thrust from the drive arm 320, and the other end of the transverse connecting rod 240 is subjected to the reverse thrust applied by the loaded cargo. These two thrusts are directed toward the interior of the transverse connecting rod 240, such that the transverse connecting rod 240 is subjected to compressive stress during the lifting process, rather than tensile stress. Since the transverse connecting rod 240 is generally made of a brittle material such as die-cast aluminum as the base material, its tensile strength is far less than its compressive strength. Therefore, in the embodiments of the present application, by subjecting the transverse connecting rod 240 to compressive stress during the lifting process, the structural strength of the transverse connecting rod 240 can be improved, so that the transverse connecting rod 240 is not prone to fracture, enhancing the structural strength of the lifting mechanism 10, and thereby helping to improve the load capacity of the lifting mechanism 10.

[0029] During movement, a radial load is applied to the crank output shaft 3121 by the second end 322 of the drive arm 320. Since the crank output shaft 3121 is also connected to the second end 522 of the connecting arm 520, both ends of the crank output shaft 3121 are supported by the motor 311 and the support base 510 respectively, and therefore, the radial load applied by the drive arm 320 to the crank output shaft 3121 can be shared by the motor 311 and the support base 510.

[0030] As shown in Fig.7, in the embodiments of the present application, the support base 510 is provided with an installation hole 511. The installation hole 511 is coaxial with the motor output shaft 3111. The first end 521 of the connecting arm 520 is provided with a shaft portion 523. The shaft portion 523 is rotatably installed within the installation hole 511 via a bearing 530. The second end 522 of the connecting arm 520 is provided with a bearing hole 524. The crank output shaft 3121 extends into the bearing hole 524. In the embodiments of the present application, the installation hole 511 is coaxial with the motor output shaft 3111. Thus, after the shaft portion 523 is rotatably installed into the installation hole 511 via the bearing 530, the rotation axis of the shaft portion 523 is coaxial with the rotation axis of the motor output shaft 3111, so that the connecting arm 520 follows the same rotation as the crank 312, and thereby ensuring that the crank output shaft 3121 is supported at both ends during movement.

[0031] Compared to single-end support, two-end support can reduce the radial load borne by the motor 311, which is beneficial for improving the load-bearing capacity of the lifting mechanism 10. Specifically, Fig.8 shows a force analysis diagram of the power device 310 in the embodiments of the present application. It should be noted that in the embodiments of the present application, since the crank 312 is fixedly connected to the motor output shaft 3111 and the crank output shaft 3121 is fixed to the end of the crank 312, the radial load applied to the crank output shaft 3121 can be considered as being applied to the motor output shaft 3111. As shown in Fig.8, the radial load applied to the motor output shaft 3111 is partially borne by the proximal bearing 3112 and the distal bearing 3113 inside the motor 311, and partially borne by the bearing 530 within the support base 510. The motor output shaft 3111 is not used in a cantilevered manner but is supported at both ends. Thus, the force on the proximal bearing 3112 and the distal bearing 3113 can be reduced, significantly decreasing the force exerted by the proximal bearing 3112 and the distal bearing 3113 on the motor output shaft 3111, greatly reducing the stress on the motor output shaft 3111, and thereby significantly improving the load-bearing capacity of the lifting mechanism 10. It can be understood that in the embodiments of the present application, the radial load borne by the motor 311 is mainly borne by the proximal bearing 3112.

[0032] Additionally, in the two-end support, the load is distributed based on the distance ratio between each bearing and the load application point. Preferably, by adjusting the distance between the support base 510 and the motor 311, the ratio of the load borne by the proximal bearing 3112 inside the motor 311 can be controlled to be below 60%.

[0033] In the embodiments of the present application, the bearing 530 installed in the support base 510 can be a double-row angular contact ball bearing. Furthermore, considering that the crank output shaft 3121 may experience thermal expansion and contraction during movement, after the crank output shaft 3121 extends into the bearing hole 524, it is not necessary to limit the axial position of the crank output shaft 3121.

[0034] As shown in Figs. 6 and 7, in the embodiments of the present application, the auxiliary support structure 500 further includes a bearing pressure plate 540. The bearing pressure plate 540 is fixed on the support base 510 and abuts against a side of the outer ring of the bearing 530 that faces away from the power assembly 300. In the embodiments of the present application, by providing the bearing pressure plate 540, the axial position of the bearing 530 is limited, preventing the bearing 530 from detaching from the installation hole 511. Specifically, during installation, screws 560 can be used to fix the bearing pressure plate 540 on the support base 510.

[0035] As shown in Figs. 6 and 7, in the embodiments of the present application, the auxiliary support structure 500 further includes a connecting arm pressure plate 550. The connecting arm pressure plate 550 is installed on an end face of the shaft portion 523 and abuts against a side of the inner ring of the bearing 530 that faces away from the power assembly 300. In the embodiments of the present application, the connecting arm pressure plate 550 can be fixed to the end face of the shaft portion 523 via screws 560, and a portion of the connecting arm pressure plate 550 abuts against the inner ring of the bearing 530 to ensure the relative fixation among the three, so that the connecting arm pressure plate 550 is rotated together with the shaft portion 523 and the inner ring of the bearing 530. By providing the connecting arm pressure plate 550, it is possible to prevent the shaft portion 523 from detaching from the bearing 530 during rotation.

[0036] As shown in Figs. 6 and 7, in the embodiments of the present application, the auxiliary support structure 500 further includes a pin connector and a threaded connector. The pin connector is used for positioning the support base 510. The threaded connector is used for fixing the support base 510 on the chassis 100. In the embodiments of the present application, by providing the pin connector, the coaxiality between the shaft portion 523 and the motor output shaft 3111 is ensured. By providing the threaded connector, the support base 510 is fixed on the chassis 100. The pin connector can be a cylindrical pin 570, and the threaded connector can be a screw.

[0037] As shown in Figs. 6 and 7, in the embodiments of the present application, the support base 510 is further provided with a first avoidance hole 512 and a second avoidance hole 513. When fixing the support base 510, screws can be inserted into the chassis 100 from top to bottom in the first avoidance hole 512 to achieve the fixation of the support base 510 and the chassis 100. Additionally, in the embodiments of the present application, the chassis 100 is provided with reinforcing ribs to enhance the structural strength of the chassis 100. The second avoidance hole 513 is used to avoid the reinforcing ribs.

[0038] As shown in Fig.9, in the embodiments of the present application, the first end 321 of the drive arm 320 is provided with a first through hole 323. The second end 322 of the drive arm 320 is provided with a second through hole 324. The first end 321 of the drive arm 320 is sleeved on the first rotating shaft 600 via the first through hole 323 to achieve a rotatable connection between the drive arm 320 and the first rotating shaft 600. The second end 322 of the drive arm 320 is sleeved on the crank output shaft 3121 via the second through hole 324 to achieve a rotatable connection between the drive arm 320 and the crank 312. When installing the second end 322 of the drive arm 320, the second end 322 of the drive arm 320 can first be rotatably connected to the crank output shaft 3121, and then the crank output shaft 3121 can be inserted into the bearing hole 524. Furthermore, in the embodiments of the present application, the axial dimension of the first through hole 323 is greater than that of the second through hole 324, thereby increasing the action area of the drive arm 320 on the first rotating shaft 600. A transition portion 325 is arranged between the first end 321 of the drive arm 320 and the second end 322 of the drive arm 320. Along the direction from the second end 322 of the drive arm 320 to the first end 321 of the drive arm 320, the cross-sectional dimension of the transition portion 325 gradually increases, thereby enhancing the structural strength of the drive arm 320.

[0039] As shown in Figs. 2 to 4, in the embodiments of the present application, the upper support piece 220 includes a first connection portion 221, a first connection lug 222 extending from the upper end of the first connection portion 221, and a second connection lug 223 extending from the lower end of the first connection portion 221. The first connection lug 222 is rotatably installed to an underside of the support plate 210 via a second rotating shaft 610. The second connection lug 223 is rotatably connected to the first rotating shaft 600. The drive arm 320 is rotatably connected to the middle portion of one of the first rotating shafts 600 that is closer to the drive arm 320. In the embodiments of the present application, by providing the first connection lug 222 and the second connection lug 223 at the upper and lower ends of the first connection portion 221 respectively, it is convenient to achieve the rotatable connection between the upper support piece 220 and the support plate 210, and the rotatable connection between the upper support piece 220 and the lower support piece 230.

[0040] Furthermore, two first connection lugs 222 are provided, located on both sides of the upper end of the first connection portion 221 respectively, and rotatably connected to the second rotating shaft 610 respectively. Two second connection lugs 223 are provided, located on both sides of the lower end of the first connection portion 221 respectively, and rotatably connected to the first rotating shaft 600 respectively. By providing two first connection lugs 222 and two second connection lugs 223, the structure of the load-bearing assembly 200 is more stable.

[0041] The lower support piece 230 can have the same structure as the upper support piece 220. Specifically, the lower support piece 230 includes a second connection portion, a third connection lug extending from the upper end of the second connection portion, and a fourth connection lug extending from the lower end of the second connection portion. The third connection lug is rotatably connected to the first rotating shaft 600. The fourth connection lug is rotatably installed on the chassis 100 via a third rotating shaft 620. By rotatably connecting the second connection lug 223 of the upper support piece 220 and the third connection lug of the lower support piece 230 to the first rotating shaft 600, a rotatable connection between the upper support piece 220 and the lower support piece 230 is achieved. By providing the fourth connection lug, it is convenient to achieve the rotatable connection between the lower support piece 230 and the chassis 100.

[0042] Furthermore, two third connection lugs are provided, located on both sides of the upper end of the second connection portion respectively, and rotatably installed to the first rotating shaft 600 respectively. Two fourth connection lugs are provided, located on both sides of the lower end of the second connection portion respectively, and rotatably installed to the third rotating shaft 620 respectively. By providing two third connection lugs and two fourth connection lugs, the structure of the load-bearing assembly 200 is more stable.

[0043] The distance between the two third connection lugs is less than the distance between the two second connection lugs 223. During installation, the two third connection lugs can be rotatably connected to the portion of the first rotating shaft 600 located between the two second connection lugs 223. Thus, it facilitates the overlapping connection of the upper support piece 220 and the lower support piece 230. Additionally, when installing the drive arm 320, the first end 321 of the drive arm 320 can be rotatably connected to the portion of the first rotating shaft 600 located between the two third connection lugs. Thus, the thrust point of the drive arm 320 can be located at the middle of the first rotating shaft 600 in the axial direction, so that the same thrust can be applied to the two transverse connecting rods 240, which is beneficial for the stable operation of the lifting mechanism 10.

[0044] As shown in Fig.2, in some embodiments of the present application, the lifting mechanism 10 further includes a limiting assembly 400. The limiting assembly 400 includes at least one limiting post 420 and at least one limiting pull rod 410. The limiting post 420 is fixed on the chassis 100. One end of the limiting pull rod 410 is rotatably connected to the limiting post 420, and the other end of the limiting pull rod 410 is rotatably installed to an underside of the support plate 210. In the present application, by providing the limiting assembly 400, the support plate 210 is constrained, so that the support plate 210 can perform circular motion around the rotating shaft between the limiting post 420 and the limiting pull rod 410 while remaining parallel to the chassis 100, thereby achieving lifting and lowering.

[0045] As shown in Figs. 2 and 3, in the embodiments of the present application, two limiting pull rods 410 are provided, and the two limiting pull rods 410 are located on two sides of the support plate 210 respectively. Thus, while constraining the support plate 210, the stability of the support plate 210 can also be improved.

[0046] Correspondingly, two limiting posts 420 can also be provided, and be located on two sides of the support plate 210 respectively. The two limiting pull rods 410 are rotatably connected to one of the limiting posts 420 that is located on the same side of the support plate 210 respectively. Thus, it facilitates the connection between the limiting pull rods 410 and the limiting posts 420.

[0047] It should be noted that when multiple limiting pull rods 410 are provided, the effective length of each limiting pull rod 410 is equal. The effective length refers to the linear distance between the rotating shaft connected to one end of the limiting pull rod 410 and the rotating shaft connected to the other end of the limiting pull rod 410. Thus, the operating paths of the two limiting pull rods 410 are consistent, ensuring stable operation of the support plate 210. It can be understood that when the effective length of the limiting pull rod 410 is sufficiently long, the motion path of the support plate 210 approximates a linear movement in the direction perpendicular to the chassis 100, and the operation of the support plate 210 is more stable.

[0048] In other embodiments of the present application, only one limiting post 420 can be provided, and the two limiting pull rods 410 are rotatably connected to the same limiting post 420. Alternatively, only one limiting pull rod 410 and one limiting post 420 are provided, and the limiting pull rod 410 and the limiting post 420 are located on one side of the load-bearing assembly 200. The present application does not limit this.

[0049] As shown in Fig.4, in the embodiments of the present application, the support plate 210 includes a plate body 211 and six columns 212 located at the bottom of the plate body 211. Four of the columns 212 are rotatably connected to the upper ends of the two upper support members 220 respectively. The other two of the columns 212 are rotatably connected to one end of one of the limiting pull rods 410 respectively. Thus, it facilitates the rotatable connection between the support plate 210 and the upper support members 220, and the rotatable connection between the support plate 210 and the limiting pull rods 410. It can be understood that since Fig.4 is a side view of the lifting mechanism 10 in Fig.2, Fig.4 only shows the three columns 212 on one side of the plate body 211 and does not show the three columns 212 on the other side of the plate body 211.

[0050] In the four columns 212 connected to the upper ends of the upper support members 220, two of the columns 212 and the first connection lug 222 at the upper end of one of the upper support members 220 are rotatably connected to the same second rotating shaft 610, the other two of the columns 212 and the first connection lug 222 at the upper end of the other upper support piece 220 are rotatably connected to the other second rotating shaft 610. Thus, the rotatable installation of the support plate 210 and the upper ends of the upper support members 220 is achieved.

[0051] The remaining two of the six columns 212 and the ends of the two limiting pull rods 410 are rotatably connected to the same fourth rotating shaft 630, achieving the rotatable installation of the support plate 210 and the two limiting pull rods 410.

[0052] In other embodiments of the present application, only four columns 212 are provided, wherein two of the columns 212 and the upper end of one of the upper support members 220 are rotatably connected to the same second rotating shaft 610, the other two of the columns 212 and the upper end of the other upper support piece 220 are rotatably connected to the other second rotating shaft 610. The ends of the two limiting pull rods 410 are rotatably connected to the second rotating shaft 610 away from the power assembly 300. That is, the second rotating shaft 610 away from the power assembly 300 is rotatably connected to one upper support piece 220, two columns 212, and two limiting pull rods 410 respectively.

[0053] In other embodiments of the present application, more columns 212 connected to the second rotating shaft 610 may be provided. For example, five columns 212 are connected to the second rotating shaft 610, wherein three of the columns 212 are rotatably connected to the same second rotating shaft 610 and the other two of the columns 212 are rotatably connected to the other second rotating shaft 610. The present application does not limit this.

[0054] The embodiments of a second aspect of the present application provide a guided transport vehicle, including the lifting mechanism 10 according to any one of the embodiments of the first aspect. Specifically, multiple universal wheels can be directly installed to an underside of the chassis 100 to facilitate the movement of the guided transport vehicle. Additionally, an installation hole can be provided in the middle of the chassis 100 to facilitate the installation of a camera, which can be used to scan goods and QR codes on the ground.

[0055] The guided transport vehicle of the embodiments of the present application includes the lifting mechanism 10. The lifting mechanism 10 includes a drive arm 320. The drive arm 320 can be configured to, when driven by the power device 310, push the transverse connecting rods 240 to move away from the power device 310, so as to lift the support plate 210. Different from the related art, the second end 322 of the drive arm 320 is not only rotatably connected to the power device 310, but also rotatably connected to the second end 522 of the connecting arm 520 of the auxiliary support structure 500. Thus, the power device 310 in the embodiments of the present application is not used in a cantilevered manner but is supported at both ends. During movement, the radial load applied by the second end of the drive arm 320 can be shared by the power device 310 and the auxiliary support structure 500. That is, the power device 310 and the auxiliary support structure 500 each bear a portion of the radial load. This can reduce the radial load borne by the power device 310, mitigate the issue of the power device 310 being prone to fracture, and thereby help to improve the load-bearing capacity of the lifting mechanism 10.

[0056] The above descriptions are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc., made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A lifting mechanism for a guided transport vehicle, wherein the lifting mechanism comprises: a chassis (100); a load-bearing assembly (200), which is disposed on the chassis (100), and comprises: a support plate (210), two upper support members (220), two lower support members (230), and two transverse connecting rods (240), wherein upper ends of the two upper support members (220) are rotatably installed to an underside of the support plate (210), lower ends of the two upper support members (220) are rotatably connected to upper ends of the two lower support members (230) via two first rotating shafts (600) respectively; lower ends of the two lower support members (230) are rotatably installed on the chassis (100); the two transverse connecting rods (240) are rotatably connected to both ends of the two first rotating shafts (600) respectively, such that the two first transverse connecting rods (240) are arranged parallel to each other; a power assembly (300), which is installed on the chassis (100), and is located on either end side of the two transverse connecting rods (240), wherein the power assembly (300) comprises a power device (310) and a drive arm (320); a first end (321) of the drive arm (320) is rotatably connected to one of the two first rotating shaft (600) that is closer to the drive arm (320), a second end (322) of the drive arm (320) is rotatably connected to the power device (310); the drive arm (320) is configured to, when driven by the power device (310), push the transverse connecting rods (240) to move away from the power device (310), so as to lift the support plate (210); an auxiliary support structure (500), comprising a support base (510) and a connecting arm (520), wherein the support base (510) is installed on the chassis (100) and arranged opposite to the power device (310); the connecting arm (520) is disposed between the power device (310) and the support base (510); a first end (521) of the connecting arm (520) is rotatably connected to the support base (510), and a second end (522) of the connecting arm (520) is connected to the second end (322) of the drive arm (320) and is configured to move along with the second end (322) of the drive arm (320).

2. The lifting mechanism according to claim 1, wherein the power device (310) comprises a motor (311), a motor output shaft (3111) of which is connected to a crank (312), wherein an end of the crank (312) is provided with a crank output shaft (3121), the second end (322) of the drive arm (320) is rotatably connected to the crank output shaft (3121), and an end of the crank output shaft (3121) is connected to the second end (522) of the connecting arm (520).

3. The lifting mechanism according to claim 2, wherein the support base (510) is provided with an installation hole (511), the installation hole (511) is coaxial with the motor output shaft (3111), the first end (521) of the connecting arm (520) is provided with a shaft portion (523), the shaft portion (523) is rotatably installed within the installation hole (511) via a bearing (530), the second end (522) of the connecting arm (520) is provided with a bearing hole (524), and the crank output shaft (3121) extends into the bearing hole (524).

4. The lifting mechanism according to claim 3, wherein the auxiliary support structure (500) further comprises a bearing pressure plate (540), the bearing pressure plate (540) is fixed on the support base (510) and is abutted against a side of an outer ring of the bearing (530) that faces away from the power assembly (300).

5. The lifting mechanism according to claim 3, wherein the auxiliary support structure (500) further comprises a connecting arm pressure plate (550), the connecting arm pressure plate (550) is installed on an end face of the shaft portion (523) and is abutted against a side of an inner ring of the bearing (530) that faces away from the power assembly (300).

6. The lifting mechanism according to claim 3, wherein the auxiliary support structure (500) further comprises a pin connector and a threaded connector, the pin connector is configured to position the support base (510), and the threaded connector is configured to fix the support base (510) on the chassis (100).

7. The lifting mechanism according to claim 1, wherein the lifting mechanism further comprises a limiting assembly (400), the limiting assembly (400) comprises at least one limiting post (420) and at least one limiting pull rod (410), the limiting post (420) is fixed on the chassis (100), one end of the limiting pull rod (410) is rotatably connected to the limiting post (420), and the other end of the limiting pull rod (410) is rotatably installed to an underside of the support plate (210).

8. The lifting mechanism according to claim 7, wherein two limiting pull rods (410) are provided, the two limiting pull rods (410) are located on two sides of the support plate (210) respectively; two limiting posts (420) are provided, and are located on two sides of the support plate (210) respectively, wherein one end of each of the two limiting pull rods (410) is rotatably connected to one of the two limiting posts (420) that is located on the same side of the support plate (210) respectively.

9. The lifting mechanism according to claim 1, wherein the support plate (210) comprises a plate body (211) and at least four columns (212) located at a bottom of the plate body (211), the at least four columns (212) are rotatably connected to the upper ends of the two upper support members (220) respectively.

10. A guided transport vehicle, wherein the guided transport vehicle comprises the lifting mechanism (10) according to any one of claims 1 to 9.

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