AGV jacking mechanism and AGV comprising same

Abstract

The present application provides an AGV jacking mechanism and an AGV comprising same. The AGV jacking mechanism comprises: a base; a bearing structure, located above the base; a lifting assembly, located between the base and the bearing structure, the lifting assembly comprising a driving member, a first driven assembly, and a second driven assembly, the driving member being connected to the second driven assembly by means of the first driven assembly, the first driven assembly being pivotally connected to both the base and the bearing structure, the second driven assembly being pivotally connected to the bearing structure or the base, and the driving member being pushed and pulled to drive the first driven assembly and the second driven assembly to move so as to drive the bearing structure to perform lifting / lowering motion; and a guide structure, arranged on the base or on the bearing structure and provided with guide portions, the guide portions working in conjunction with at least part of the second driven assembly so as to guide the second driven assembly. The present application effectively solves the problems in the prior art of lifting mechanisms having high costs and a complex structure.

Description

AGV lifting mechanism and AGV having the same

[0001] This application claims priority to the patent application submitted to the State Intellectual Property Office of China on August 31, 2023, with application number 202311119900.3 and application name "AGV lifting mechanism and AGV having the same". Technical Field

[0002] The present application relates to the field of AGV technology, and in particular to an AGV lifting mechanism and an AGV having the same. Background Art

[0003] AGVs (Automated Guided Vehicles) are now widely used and play a vital role in improving factory efficiency. The lifting mechanism of AGVs is used to lift load-bearing structures and loads.

[0004] In the prior art, since the lifting mechanism bears large stress from the load and the load-bearing structure during the lifting process, the lifting structure is subjected to large forces and is prone to structural damage, which affects the overall service life of the AGV mobile machine.

[0005] In order to solve the above problems, the lifting mechanism is usually made of high-strength materials or formed by a multiple-link mechanism. However, high-strength materials increase production costs and require high production precision. The multiple-link mechanism will cause the structure of the lifting mechanism to be more complex and larger in size, limiting the overall size of the AGV.

[0006] Summary of the Invention

[0007] The main purpose of this application is to provide an AGV lifting mechanism and an AGV having the same, so as to solve the problems of high cost and complex structure of the lifting mechanism in the prior art.

[0008] In order to achieve the above-mentioned purpose, according to one aspect of the present application, an AGV lifting mechanism is provided, including: a base; a load-bearing structure located above the base; a lifting assembly located between the base and the load-bearing structure, the lifting assembly including an active member, a first driven assembly and a second driven assembly, the active member is connected to the second driven assembly through the first driven assembly, the first driven assembly is pivotally connected to the base and the load-bearing structure, and the second driven assembly is pivotally connected to the load-bearing structure or the base; the first driven assembly and the second driven assembly are driven to move by pushing and pulling the active member to drive the load-bearing structure to perform lifting and lowering movements; a guide structure is arranged on the base or the load-bearing structure and has a guide portion, the guide portion cooperates with at least a portion of the second driven assembly to guide the second driven assembly.

[0009] Furthermore, the AGV lifting mechanism also includes: a limiting structure, including a limiting protrusion and a limiting recess, one of the limiting protrusion and the limiting recess is arranged on the base, and the other of the limiting protrusion and the limiting recess is arranged on the load-bearing structure, and the limiting protrusion extends into the limiting recess and can move along the extension direction of the limiting recess; wherein, the extension direction of the limiting recess is consistent with the lifting direction of the load-bearing structure.

[0010] Furthermore, the limiting structure also includes: a first mounting part, the limiting recess is arranged on the first mounting part; a second mounting part, the limiting protrusion is arranged on the second mounting part; wherein, one of the first mounting part and the second mounting part is arranged on the load-bearing structure, one of the first mounting part and the second mounting part is arranged on the base, and at least parts of the first mounting part and the second mounting part are arranged relative to each other.

[0011] Furthermore, the first mounting portion is arranged on the load-bearing structure, and the second mounting portion is arranged on the base, and the first mounting portion and the second mounting portion are staggered and at least partially opposite to each other; the first mounting portion is plate-shaped and includes a first plate body and a second plate body connected to each other, and the first plate body is connected to the load-bearing structure; along the direction from the load-bearing structure to the base, the width of the first plate body gradually decreases, the size of the second plate body remains unchanged, and the minimum width of the first plate body is consistent with the width of the second plate body; the second mounting portion is plate-shaped, and along the direction from the load-bearing structure to the base, the width of at least part of the second mounting portion gradually increases.

[0012] Furthermore, the first driven assembly includes: a first connecting rod, pivotally connected to the load-bearing structure; a second connecting rod, pivotally connected to the base; a first connecting shaft, the first connecting rod and the second connecting rod are rotatably mounted on the first connecting shaft, and the active member is pivotally connected to the first connecting shaft.

[0013] Furthermore, the first connecting rod and the second connecting rod are of the same length, the first connecting rod is arranged opposite the pivot end of the load-bearing structure, and the second connecting rod is arranged opposite the pivot end of the base, so that the angle between the first connecting rod and the first connecting axis is the same as the angle between the second connecting rod and the first connecting axis.

[0014] Furthermore, the second driven assembly includes: a third connecting rod, pivotally connected to the load-bearing structure; a fourth connecting rod, the first end of the fourth connecting rod is rotatably mounted on the first connecting shaft; a second connecting shaft, the second ends of the third connecting rod and the fourth connecting rod are rotatably mounted on the second connecting shaft, and at least a portion of the second connecting shaft is matched with the guide portion; wherein the third connecting rod and the first connecting rod are arranged parallel to each other, and the extension direction of the fourth connecting rod is arranged parallel to the load-bearing surface of the load-bearing structure.

[0015] Furthermore, the third connecting rod is arranged parallel to the first connecting rod so that a parallelogram structure is formed between the first connecting rod, the third connecting rod, the fourth connecting rod and the load-bearing structure; the second connecting shaft is arranged parallel to the first connecting shaft and is located at the same height, and the second connecting shaft cooperates with the guide part to slide along the extension direction of the guide part.

[0016] Furthermore, the second driven assembly includes: a third connecting rod, pivotally connected to the base; a fourth connecting rod, the first end of the fourth connecting rod is rotatably mounted on the first connecting shaft; a second connecting shaft, the second ends of the third connecting rod and the fourth connecting rod are rotatably mounted on the second connecting shaft, and at least a portion of the second connecting shaft is matched with the guide portion; wherein the third connecting rod and the first connecting rod are arranged parallel to each other, and the extension direction of the fourth connecting rod is arranged parallel to the base.

[0017] Furthermore, the guide structure includes two guide parts arranged opposite to each other, each guide part is a recessed part, and both ends of the second connecting shaft extend into the two guide parts respectively to slide along the extension direction of the guide parts.

[0018] Furthermore, the first connecting rod includes: two first rod bodies arranged opposite to each other, one end of each first rod body is pivotally connected to the load-bearing structure, and the other end is sleeved on the first connecting shaft; a second rod body, both ends of the second rod body are respectively connected to the two first rod bodies; a third rod body, one end of the third rod body is connected to the second rod body, and the other end of the third rod body is sleeved on the first connecting shaft.

[0019] Furthermore, the end of the first rod body connected to the load-bearing structure has a first sleeve, which is sleeved on the first pivot shaft to be pivotally connected to the load-bearing structure through the first pivot shaft, and the end of the first rod body connected to the first connecting shaft has a second sleeve, which is sleeved on the first connecting shaft.

[0020] Furthermore, the second connecting rod includes: two fourth rod bodies arranged opposite to each other, one end of each fourth rod body is pivotally connected to the base, and the other end is sleeved on the first connecting shaft; a fifth rod body, both ends of the fifth rod body are respectively connected to the two fourth rod bodies; a sixth rod body, one end of the sixth rod body is connected to the fifth rod body, and the other end of the sixth rod body is sleeved on the first connecting shaft.

[0021] Furthermore, the end of the second connecting rod connected to the base has a third sleeve, which is sleeved on the second pivot shaft to be pivotally connected to the base through the second pivot shaft. The end of the second connecting rod connected to the first connecting shaft has a fourth sleeve, which is sleeved on the first connecting shaft.

[0022] Furthermore, the third connecting rod includes two seventh rods, an eighth rod and a ninth rod arranged opposite to each other, one end of each seventh rod is pivotally connected to the load-bearing structure, the other end of each seventh rod is sleeved on the second connecting shaft, the two ends of the eighth rod are respectively connected to the two seventh rods, one end of the ninth rod is connected to the eighth rod, and the other end of the ninth rod is sleeved on the second connecting shaft.

[0023] Furthermore, the end of the third connecting rod connected to the load-bearing structure has a fifth sleeve, which is sleeved on the third pivot shaft to be pivotally connected to the load-bearing structure through the third pivot shaft. The end of the third connecting rod connected to the second connecting shaft has a sixth sleeve, which is sleeved on the second connecting shaft.

[0024] According to another aspect of the present application, an AGV is provided, comprising: a chassis including a frame assembly and a swing bridge, the swing bridge being swingably arranged on the frame assembly, the swing bridge being located on one side of the frame assembly, the frame assembly comprising a front frame and a rear frame which are pivotally connected; the swing axis of the swing bridge is along the driving direction of the frame assembly; an AGV lifting mechanism being arranged on the chassis; wherein the AGV lifting mechanism is the above-mentioned AGV lifting mechanism.

[0025] Furthermore, the base includes: a frame assembly, including a front frame and a rear frame pivotally connected; a swing bridge, swingably arranged on the frame assembly and located on one side of the frame assembly; wherein the swing axis of the swing bridge is along the traveling direction of the frame assembly.

[0026] Furthermore, one of the front frame and the rear frame has a mounting protrusion, and the other of the front frame and the rear frame has a mounting recess. The mounting protrusion extends into the mounting recess and is pivotally connected to the mounting recess to connect the front frame and the rear frame.

[0027] Furthermore, a stop structure is provided between the front frame and the rear frame. During the swinging process of the front frame and / or the rear frame, the stop structure is used to limit and stop the front frame and / or the rear frame.

[0028] Furthermore, the AGV also includes: a driving wheel, rotatably disposed on the swing bridge; a driven wheel, rotatably disposed on the frame assembly, the driving wheel being connected to the driven wheel to drive the driven wheel to rotate; a driving wheel driving device, the driving wheel driving device being drivingly connected to the driving wheel to drive the driving wheel to rotate, and a portion of the driving wheel driving device being embedded in the swing bridge.

[0029] Applying the technical solution of the present application, an AGV lifting mechanism includes a base, a load-bearing structure, a lifting assembly, and a guide structure. The lifting assembly includes an active member, a first driven assembly, and a second driven assembly. The active member is connected to the second driven assembly via the first driven assembly. The first driven assembly is pivotally connected to both the base and the load-bearing structure, and at least a portion of the second driven assembly is pivotally connected to the load-bearing structure. The guide structure is disposed on the base and has a guide portion. At least a portion of the second driven assembly cooperates with the guide portion to guide the second driven assembly via the guide portion. The first driven assembly is pivotally connected to both the base and the load-bearing structure. A portion of the second driven assembly is pivotally connected to the load-bearing structure and a portion cooperates with the guide portion, thereby simplifying the structure of the lifting assembly and making it easier to process and implement. In this way, when it is necessary to lift a load placed on the load-bearing structure, the push-pull active member drives the first driven assembly to move, and the first driven assembly simultaneously drives the second driven assembly to move, so that the load-bearing structure and the load are synchronously driven to move up and down through the first and second driven assemblies.

[0030] Compared with the lifting mechanism in the prior art, the lifting assembly in the present application has a simpler structure and is easier to process and implement, thereby reducing the processing cost and difficulty of disassembly and assembly of the lifting assembly, and solving the problem of high cost and complex structure of the lifting mechanism in the prior art. At the same time, in the process of the lifting assembly driving the load-bearing structure and the load to lift and lower, the guide structure guides the lifting direction of the second driven assembly, further improving the lifting stability of the load-bearing structure. At present, AGV requires the whole machine to be small in size, low in manufacturing cost, and large in load. The structure adopted in the present application can effectively reduce the size of the whole machine and facilitate the layout of the whole vehicle; synchronous lifting is performed by a combination of connecting rods and slide grooves; when the lifting structure of the whole vehicle is affected by external force distortion, the internal stress can be released through the slide groove gap, reducing the processing accuracy requirements of the whole vehicle for related parts, thereby reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0032] FIG1 shows a front view of a first embodiment of an AGV lifting mechanism according to the present application;

[0033] FIG2 shows a schematic diagram of the three-dimensional structure of the AGV lifting mechanism in FIG1 ;

[0034] FIG3 is a schematic diagram showing the three-dimensional structure of the AGV lifting mechanism in FIG2 from another angle;

[0035] FIG4 shows a schematic diagram of the coordination of the limiting structure of the AGV lifting mechanism in FIG1 ;

[0036] FIG5 is a schematic diagram showing a three-dimensional structure of the chassis and the AGV lifting mechanism after assembly according to an embodiment of the AGV of the present application;

[0037] FIG6 shows a schematic diagram of the three-dimensional structure of the chassis of the AGV in FIG5 ;

[0038] FIG7 is a schematic diagram showing the three-dimensional structure of the chassis in FIG5 from another angle;

[0039] FIG8 shows a partial enlarged schematic diagram of the chassis in FIG5 ;

[0040] FIG9 is a schematic diagram showing the three-dimensional structure of the swing bridge, driving wheel and driving wheel drive device of the AGV in FIG5 after assembly;

[0041] FIG10 shows a schematic diagram of the three-dimensional structure of the swing bridge and the driving wheel drive device in FIG9 after assembly;

[0042] FIG11 shows a front view of a second embodiment of the AGV lifting mechanism according to the present application.

[0043] The above drawings include the following reference numerals: 10, base; 20, load-bearing structure; 30, lifting assembly; 31, driving member; 32, first driven assembly; 321, first connecting rod; 3211, first rod body; 3212, second rod body; 3213, third rod body; 322, second connecting rod; 3221, fourth rod body; 3222, fifth rod body; 3223, sixth rod body; 323, first connecting shaft; 33, second driven assembly; 331, third connecting rod; 3311, seventh rod body; 3312, eighth rod body; 3313, ninth rod body; 332, fourth connecting rod; 333, second connecting shaft; 40, guide structure; 41, guide portion; 50, limiting structure; 51, limiting protrusion; 52, limiting recess; 53, first mounting portion; 54, second mounting portion; 60. Chassis; 61. Front frame; 62. Rear frame; 63. Swing bridge; 64. Mounting protrusion; 65. Mounting recess; 67. Rotating shaft; 71. Driving wheel; 72. Driven wheel; 73. Driving wheel drive device; 80. AGV lifting mechanism. DETAILED DESCRIPTION

[0044] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0045] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0046] In this application, unless otherwise specified, directional words such as "up" and "down" are generally used with respect to the directions shown in the drawings, or with respect to the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "left" and "right" are generally used with respect to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit this application.

[0047] In order to solve the problems of high cost and complex structure of the lifting mechanism in the prior art, the present application provides an AGV lifting mechanism and an AGV having the same.

[0048] Example 1

[0049] As shown in Figures 1 to 3, the AGV lifting mechanism includes a base 10, a load-bearing structure 20, a lifting assembly 30, and a guide structure 40. The load-bearing structure 20 is located above the base 10. The lifting assembly 30 is located between the base 10 and the load-bearing structure 20. The lifting assembly 30 includes an active member 31, a first driven assembly 32, and a second driven assembly 33. The active member 31 is connected to the second driven assembly 33 via the first driven assembly 32. The first driven assembly 32 is pivotally connected to both the base 10 and the load-bearing structure 20, and the second driven assembly 33 is pivotally connected to the load-bearing structure 20. By pushing and pulling the active member 31, the first driven assembly 32 and the second driven assembly 33 are driven to move, thereby driving the load-bearing structure 20 to move up and down. The guide structure 40 is provided on the base 10 and has a guide portion 41. The guide portion 41 cooperates with at least a portion of the second driven assembly 33 to guide the second driven assembly 33.

[0050] Using the technical solution of this embodiment, the first follower assembly 32 is pivotally connected to both the base 10 and the load-bearing structure 20. A portion of the second follower assembly 33 is pivotally connected to the load-bearing structure 20, while a portion cooperates with the guide portion 41. This simplifies the structure of the lifting assembly 30 and makes it easier to manufacture and implement. When a load placed on the load-bearing structure 20 needs to be lifted, the push-pull active member 31 drives the first follower assembly 32, which in turn drives the second follower assembly 33. The first and second follower assemblies 32 and 33 simultaneously drive the load-bearing structure 20 and the load to move upward and downward.

[0051] Compared with the lifting mechanism in the prior art, the lifting assembly 30 in this embodiment has a simpler structure and is easier to process and implement, thereby reducing the processing cost and difficulty of disassembly and assembly of the lifting assembly 30, and solving the problem of high cost and complex structure of the lifting mechanism in the prior art. At the same time, in the process of the lifting assembly 30 driving the load-bearing structure 20 and the load to lift and lower, the guide structure 40 guides the lifting direction of the second driven assembly 33, further improving the lifting stability of the load-bearing structure 20. At present, AGV requires the whole machine to be small in size, low in manufacturing cost, and large in load. The structure adopted in this application can effectively reduce the size of the whole machine and facilitate the layout of the whole vehicle; synchronous lifting is performed by a combination of connecting rods and slide grooves; when the lifting structure of the whole vehicle is affected by external force distortion, the internal stress can be released through the slide groove gap, reducing the processing accuracy requirements of the whole vehicle for related parts, thereby reducing costs.

[0052] In this embodiment, the existing complex connecting rod lifting mechanism is simplified, and the stress problem of the lifting component is solved with a simple and compact structure and low material requirements.

[0053] Specifically, when the active member 31 is pulled, the first driven component 32 and the second driven component 33 drive the load-bearing structure 20 and the load to descend synchronously; when the active member 31 is pushed, the first driven component 32 and the second driven component 33 drive the load-bearing structure 20 and the load to rise synchronously.

[0054] As shown in Figures 1, 3, and 4, the AGV lifting mechanism also includes a limiting structure 50. The limiting structure 50 includes a limiting protrusion 51 and a limiting recess 52. One of the limiting protrusion 51 and the limiting recess 52 is located on the base 10, and the other of the limiting protrusion 51 and the limiting recess 52 is located on the load-bearing structure 20. The limiting protrusion 51 extends into the limiting recess 52 and is movable along the extension direction of the limiting recess 52. The extension direction of the limiting recess 52 aligns with the lifting direction of the load-bearing structure 20. Thus, when the lifting assembly 30 drives the load-bearing structure 20 and the load to move upward and downward, the limiting structure 50 guides and limits the movement direction of the load-bearing structure 20, ensuring that the load-bearing structure 20 always moves upward and downward in the height direction, thereby improving the lifting stability and reliability of the lifting assembly 30. Furthermore, this arrangement allows for greater flexibility in the placement of the limiting protrusion 51 and the limiting recess 52 to meet different usage requirements and working conditions, and also enhances the operator's flexibility in processing.

[0055] In this embodiment, the limiting protrusion 51 is provided on the base 10 , and the limiting recess 52 is provided on the load-bearing structure 20 . The limiting protrusion 51 extends into the limiting recess 52 and can move along the extension direction of the limiting recess 52 .

[0056] Optionally, there is one limiting structure 50 ; or, there are multiple limiting structures 50 , and the multiple limiting structures 50 are arranged at intervals along the length direction and / or width direction of the load-bearing structure 20 .

[0057] As shown in Figures 3 and 4, the limiting structure 50 also includes a first mounting portion 53 and a second mounting portion 54. The limiting recess 52 is provided on the first mounting portion 53, and the limiting protrusion 51 is provided on the second mounting portion 54. One of the first mounting portion 53 and the second mounting portion 54 is provided on the load-bearing structure 20, and one of the first mounting portion 53 and the second mounting portion 54 is provided on the base 10. At least portions of the first mounting portion 53 and the second mounting portion 54 are arranged relative to each other. This arrangement simplifies the structure of the limiting structure 50, making it easier to manufacture and implement, and reduces the processing cost and difficulty of the limiting structure 50.

[0058] Specifically, the first mounting portion 53 is disposed on the load-bearing structure 20 , and the second mounting portion 54 is disposed on the base 10 . The two are staggered and at least partially opposite to each other to ensure that they can cooperate with each other.

[0059] In this embodiment, the first mounting portion 53 is plate-shaped and includes a first plate and a second plate connected to each other. The first plate is connected to the load-bearing structure 20. Along the direction from the load-bearing structure 20 to the base 10, the width of the first plate gradually decreases, while the size of the second plate remains unchanged. The minimum width of the first plate is consistent with the width of the second plate, thereby increasing the structural strength of the first mounting portion 53.

[0060] In this embodiment, the second mounting portion 54 is plate-shaped, and the width of at least a portion of the second mounting portion 54 gradually increases along the direction from the load-bearing structure 20 to the base 10 to increase the structural strength of the second mounting portion 54 .

[0061] As shown in Figures 1 and 2, the first follower assembly 32 includes a first connecting rod 321, a second connecting rod 322 and a first connecting shaft 323. Among them, the first connecting rod 321 is pivotally connected to the load-bearing structure 20, the second connecting rod 322 is pivotally connected to the base 10, the first connecting rod 321 and the second connecting rod 322 are rotatably mounted on the first connecting shaft 323, and the active member 31 is pivotally connected to the first connecting shaft 323. In this way, the above arrangement makes the structure of the first follower assembly 32 simpler, easier to process and implement, and reduces the processing cost and difficulty of the first follower assembly 32. At the same time, the above arrangement ensures that the first follower assembly 32 can drive the load-bearing structure 20 to perform lifting and lowering movements, thereby improving the movement reliability of the first follower assembly 32.

[0062] Specifically, the first link 321 and the second link 322 have the same length, and the first link 321 and the pivot end of the load-bearing structure 20 and the second link 322 and the pivot end of the base 10 are arranged opposite each other so that the angles between them and the first connecting shaft 323 are the same.

[0063] As shown in Figures 1 and 2, the second driven assembly 33 includes a third connecting rod 331, a fourth connecting rod 332, and a second connecting shaft 333. The third connecting rod 331 is pivotally connected to the load-bearing structure 20. The first end of the fourth connecting rod 332 is rotatably mounted on the first connecting shaft 323. The second ends of the third connecting rod 331 and the fourth connecting rod 332 are rotatably mounted on the second connecting shaft 333. At least a portion of the second connecting shaft 333 cooperates with the guide portion 41. The third connecting rod 331 is arranged parallel to the first connecting rod 321, and the extension direction of the fourth connecting rod 332 is arranged parallel to the load-bearing surface of the load-bearing structure 20. This arrangement simplifies the structure of the second driven assembly 33 and makes it easier to process and implement, thereby reducing the processing cost and difficulty of the second driven assembly 33. Furthermore, this arrangement ensures that the second driven assembly 33 can drive the load-bearing structure 20 to perform lifting and lowering motions, thereby improving the motion reliability of the second driven assembly 33.

[0064] Specifically, the third connecting rod 331 is arranged parallel to the first connecting rod 321, so that a parallelogram structure is formed between the first connecting rod 321, the third connecting rod 331, the fourth connecting rod 332, and the load-bearing structure 20, thereby improving the lifting stability of the lifting assembly 30. The second connecting shaft 333 is arranged parallel to the first connecting shaft 323 and is located at the same height. The second connecting shaft 333 cooperates with the guide portion 41 to slide along the extension direction of the guide portion 41.

[0065] As shown in Figures 1 to 3, the guide structure 40 includes two opposing guide portions 41. Each guide portion 41 is a recessed portion. The ends of the second connecting shaft 333 extend into each guide portion 41, sliding along the extension direction of the guide portion 41. The recessed portion is arc-shaped, with the center located below the recessed portion. This arrangement increases the contact area between the guide portion 41 and the second connecting shaft 333, further improving the reliability and stability of the guide portion 41 in guiding the second connecting shaft 333.

[0066] Specifically, the guide structure 40 includes two guide plates arranged opposite to each other, the fourth connecting rod 332 is located between the two guide plates, and each guide plate has a guide portion 41, thereby improving the connection stability between the guide structure 40 and the second driven assembly 33.

[0067] In this embodiment, the recess is a waist-shaped hole.

[0068] Optionally, the limiting protrusion 51 is a bearing or a wheel. This configuration, on the one hand, allows for more flexible structural selection of the limiting protrusion 51 to meet different usage requirements and working conditions, and also enhances the operator's processing flexibility. On the other hand, the friction between the limiting protrusion 51 and the limiting recess 52 is rolling friction, reducing structural wear on the first mounting portion 53 and the second mounting portion 54 and extending the service life of the limiting structure 50.

[0069] In this embodiment, the limiting protrusion 51 is a bearing.

[0070] As shown in FIG2 , the first connecting rod 321 includes two first rods 3211, a second rod 3212, and a third rod 3213 disposed opposite each other. One end of each first rod 3211 is pivotally connected to the load-bearing structure 20, and the other end is sleeved on the first connecting shaft 323. The two ends of the second rod 3212 are respectively connected to the two first rods 3211, and one end of the third rod 3213 is connected to the second rod 3212, and the other end of the third rod 3213 is sleeved on the first connecting shaft 323. And / or, the second connecting rod 322 includes two fourth rods 3221, a fifth rod 3222, and a sixth rod 3223 disposed opposite each other. One end of each fourth rod 3221 is pivotally connected to the base 10, and the other end is sleeved on the first connecting shaft 323. The ends of the fifth rod 3222 are respectively connected to the two fourth rods 3221. One end of the sixth rod 3223 is connected to the fifth rod 3222, and the other end of the sixth rod 3223 is sleeved on the first connecting shaft 323. In this way, the above arrangement makes the structure of the first connecting rod 321 and / or the second connecting rod 322 simpler, easier to manufacture and implement, and reduces the manufacturing cost and difficulty of the first connecting rod 321 and / or the second connecting rod 322.

[0071] In this embodiment, the first connecting rod 321 comprises two opposed first rods 3211, a second rod 3212, and a third rod 3213. Each first rod 3211 has one end pivotally connected to the load-bearing structure 20 and the other end sleeved onto the first connecting shaft 323. The second rod 3212 has its two ends connected to the two first rods 3211, respectively. The third rod 3213 has one end connected to the second rod 3212, and its other end sleeved onto the first connecting shaft 323. This arrangement creates an H-shaped structure for the first connecting rod 321, thereby enhancing the stability of the connection between the first connecting rod 321, the load-bearing structure 20, and the first connecting shaft 323. It also distributes stress on the first connecting shaft 323, reduces material requirements for the first connecting shaft 323, and prevents the first connecting rod 321 from falling off, which could affect the lifting reliability of the lifting assembly 30. Furthermore, the third rod 3213 serves as a reinforcement.

[0072] Specifically, the end of the first rod 3211 connected to the load-bearing structure 20 has a first sleeve, which is sleeved on the first pivot axis to be pivotally connected to the load-bearing structure 20 via the first pivot axis. The end of the first rod 3211 connected to the first connecting shaft 323 has a second sleeve, which is sleeved on the first connecting shaft 323.

[0073] In this embodiment, the second connecting rod 322 comprises two opposingly arranged fourth rods 3221, a fifth rod 3222, and a sixth rod 3223. Each fourth rod 3221 has one end pivotally connected to the base 10 and the other end sleeved onto the first connecting shaft 323. The fifth rod 3222 has its ends connected to the two fourth rods 3221, respectively. The sixth rod 3223 has one end connected to the fifth rod 3222, and its other end sleeved onto the first connecting shaft 323. This arrangement gives the second connecting rod 322 an H-shaped structure, thereby improving the stability of the connection between the second connecting rod 322, the base 10, and the first connecting shaft 323. It also distributes stress on the first connecting shaft 323, reduces material requirements for the first connecting shaft 323, and prevents the second connecting rod 322 from falling off and affecting the lifting reliability of the lifting assembly 30. Furthermore, the sixth rod 3223 serves as a reinforcement.

[0074] Specifically, the end of the second connecting rod 322 connected to the base 10 has a third sleeve, which is sleeved on the second pivot axis to be pivotally connected to the base 10 through the second pivot axis. The end of the second connecting rod 322 connected to the first connecting shaft 323 has a fourth sleeve, which is sleeved on the first connecting shaft 323.

[0075] In this embodiment, the third connecting rod 331 comprises two opposingly arranged seventh rods 3311, an eighth rod 3312, and a ninth rod 3313. Each seventh rod 3311 has one end pivotally connected to the load-bearing structure 20 and its other end sleeved onto the second connecting shaft 333. The eighth rod 3312 has its two ends connected to the two seventh rods 3311, respectively. The ninth rod 3313 has one end connected to the eighth rod 3312, and its other end sleeved onto the second connecting shaft 333. This arrangement gives the third connecting rod 331 an H-shaped structure, thereby enhancing the connection stability between the third connecting rod 331, the load-bearing structure 20, and the second connecting shaft 333. It also distributes stress on the second connecting shaft 333, reduces material requirements for the second connecting shaft 333, and prevents the third connecting rod 331 from falling off, which could affect the lifting reliability of the lifting assembly 30. Furthermore, the ninth rod 3313 serves as a reinforcement.

[0076] Specifically, the end of the third connecting rod 331 connected to the load-bearing structure 20 has a fifth sleeve, which is mounted on the third pivot axis to be pivotally connected to the load-bearing structure 20 via the third pivot axis. The end of the third connecting rod 331 connected to the second connecting shaft 333 has a sixth sleeve, which is mounted on the second connecting shaft 333.

[0077] As shown in Figures 5 to 10, the present application further provides an AGV, comprising a chassis 60 and an AGV lifting mechanism 80. The chassis 60 includes a frame assembly and a swing bridge 63. The swing bridge 63 is swingably disposed on the frame assembly and is located on one side of the frame assembly. The frame assembly includes a front frame 61 and a rear frame 62 that are pivotally connected. The swing axis of the swing bridge 63 is along the travel direction of the frame assembly. The AGV lifting mechanism 80 is disposed on the chassis 60. The AGV lifting mechanism 80 is the aforementioned AGV lifting mechanism.

[0078] Specifically, the chassis 60 is arranged in three sections, namely, it includes a front frame 61, a rear frame 62 and a swing bridge 63. The above arrangement allows the chassis 60 to swing in the left and right directions and the front and back directions to adapt to bumpy road conditions.

[0079] As shown in FIG. 8 , the chassis 60 further includes a rotating shaft 67 , and the swing bridge 63 is sleeved on the rotating shaft 67 and can rotate relative to the rotating shaft 67 .

[0080] As shown in FIG7 , one of the front frame 61 and the rear frame 62 has a mounting protrusion 64, and the other of the front frame 61 and the rear frame 62 has a mounting recess 65. The mounting protrusion 64 extends into the mounting recess 65 and is pivotally connected thereto to connect the front frame 61 and the rear frame 62. This arrangement increases the contact area between the front frame 61 and the rear frame 62, thereby improving the stability of the connection between the two and preventing them from separating from each other and affecting the structural stability of the chassis 60.

[0081] Specifically, the front frame 61 has a mounting protrusion 64 , and the rear frame 62 has a mounting recess 65 .

[0082] As shown in FIG7 , a stop structure is provided between the front frame 61 and the rear frame 62. During the swinging process of the front frame 61 and / or the rear frame 62, the stop structure is used to limit and stop the front frame 61 and / or the rear frame 62. Thus, when the chassis 60 swings in the front-to-back direction, the stop structure is used to limit and stop the front frame 61 and / or the rear frame 62, thereby preventing the chassis 60 from swinging excessively and affecting the structural stability of other components mounted thereon.

[0083] Optionally, there is one stop structure; or, there are multiple stop structures, and the multiple stop structures are perpendicular to the traveling direction of the frame assembly.

[0084] In this embodiment, there are two stop structures, thereby reducing the processing cost of the stop structures.

[0085] As shown in Figures 7 to 10, the AGV also includes a driving wheel 71, a driven wheel 72, and a driving wheel drive device 73. The driving wheel 71 is rotatably mounted on the swing bridge 63, and the driven wheel 72 is rotatably mounted on the frame assembly. The driving wheel 71 is connected to the driven wheel 72 to drive the driven wheel 72 to rotate. The driving wheel drive device 73 is drivingly connected to the driving wheel 71 to drive the driving wheel 71 to rotate. A portion of the driving wheel drive device 73 is embedded in the swing bridge 63, and another portion of the driving wheel drive device 73 is mounted on the front frame 61 or the rear frame 62.

[0086] Specifically, the swing bridge 63 has a receiving recess, and a portion of the driving wheel driving device 73 is embedded in the receiving recess.

[0087] Example 2

[0088] The AGV lifting mechanism in the second embodiment differs from that in the first embodiment in that the connection method of the second driven component 33 is different.

[0089] As shown in Figure 11, the second driven assembly 33 is pivotally connected to the base 10, and the guide structure 40 is disposed on the load-bearing structure 20. The second driven assembly 33 includes a third connecting rod 331, a fourth connecting rod 332, and a second connecting shaft 333. The third connecting rod 331 is pivotally connected to the base 10. The first end of the fourth connecting rod 332 is rotatably mounted on the first connecting shaft 323. The second ends of the third and fourth connecting rods 331, 332 are rotatably mounted on the second connecting shaft 333. At least a portion of the second connecting shaft 333 engages with the guide portion 41. The third connecting rod 331 and the first connecting rod 321 are disposed parallel to each other, and the fourth connecting rod 332 extends parallel to the base 10.

[0090] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0091] The AGV lifting mechanism includes a base, a load-bearing structure, a lifting assembly, and a guide structure. The lifting assembly includes an active member, a first driven assembly, and a second driven assembly. The active member is connected to the second driven assembly via the first driven assembly. The first driven assembly is pivotally connected to both the base and the load-bearing structure, and at least a portion of the second driven assembly is pivotally connected to the load-bearing structure. The guide structure is disposed on the base and has a guide portion. At least a portion of the second driven assembly cooperates with the guide portion to guide the second driven assembly via the guide portion. The first driven assembly is pivotally connected to both the base and the load-bearing structure. A portion of the second driven assembly is pivotally connected to the load-bearing structure, and a portion cooperates with the guide portion, thereby simplifying the structure of the lifting assembly and making it easier to process and implement. In this way, when it is necessary to lift a load placed on the load-bearing structure, the push-pull active member drives the first driven assembly to move, and the first driven assembly synchronously drives the second driven assembly to move, so that the load-bearing structure and the load are synchronously driven to move up and down through the first driven assembly and the second driven assembly.

[0092] Compared with the lifting mechanism in the prior art, the lifting assembly in the present application has a simpler structure and is easier to process and implement, thereby reducing the processing cost and difficulty of disassembly and assembly of the lifting assembly, and solving the problem of high cost and complex structure of the lifting mechanism in the prior art. At the same time, in the process of the lifting assembly driving the load-bearing structure and the load to lift and lower, the guide structure guides the lifting direction of the second driven assembly, further improving the lifting stability of the load-bearing structure. At present, AGV requires the whole machine to be small in size, low in manufacturing cost, and large in load. The structure adopted in the present application can effectively reduce the size of the whole machine and facilitate the layout of the whole vehicle; synchronous lifting is performed by a combination of connecting rods and slide grooves; when the lifting structure of the whole vehicle is affected by external force distortion, the internal stress can be released through the slide groove gap, reducing the processing accuracy requirements of the whole vehicle for related parts, thereby reducing costs.

[0093] Obviously, the embodiments described above are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0094] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, tasks, devices, components and / or combinations thereof.

[0095] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0096] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. An AGV lifting mechanism, characterized in that: include: Base (10); A load-bearing structure (20) located above the base (10); A lifting assembly (30) is located between the base (10) and the load-bearing structure (20), and the lifting assembly (30) comprises an active member (31), a first driven assembly (32) and a second driven assembly (33); the active member (31) is connected to the second driven assembly (33) via the first driven assembly (32); the first driven assembly (32) is pivotally connected to both the base (10) and the load-bearing structure (20); the second driven assembly (33) is pivotally connected to the load-bearing structure (20) or the base (10); the active member (31) is pushed and pulled to drive the first driven assembly (32) and the second driven assembly (33) to move, thereby driving the load-bearing structure (20) to perform a lifting movement; A guide structure (40) is arranged on the base (10) or the load-bearing structure (20) and has a guide portion (41), wherein the guide portion (41) cooperates with at least a portion of the second driven component (33) to guide the second driven component (33).

2. The AGV lifting mechanism according to claim 1, characterized in that: The AGV lifting mechanism also includes: The limiting structure (50) comprises a limiting protrusion (51) and a limiting recess (52), wherein one of the limiting protrusion (51) and the limiting recess (52) is arranged on the base (10), and the other of the limiting protrusion (51) and the limiting recess (52) is arranged on the load-bearing structure (20), and the limiting protrusion (51) extends into the limiting recess (52) and can move along the extension direction of the limiting recess (52); wherein the extension direction of the limiting recess (52) is consistent with the lifting direction of the load-bearing structure (20).

3. The AGV lifting mechanism according to claim 2, characterized in that: The limiting structure (50) further includes: A first mounting portion (53), the limiting recess (52) being arranged on the first mounting portion (53); A second mounting portion (54), the limiting protrusion (51) being arranged on the second mounting portion (54); One of the first mounting portion (53) and the second mounting portion (54) is arranged on the load-bearing structure (20), one of the first mounting portion (53) and the second mounting portion (54) is arranged on the base (10), and at least parts of the first mounting portion (53) and the second mounting portion (54) are arranged relative to each other.

4. The AGV lifting mechanism according to claim 3, characterized in that: The first mounting portion (53) is arranged on the load-bearing structure (20), and the second mounting portion (54) is arranged on the base (10); the first mounting portion (53) and the second mounting portion (54) are staggered and at least partially opposite to each other; The first mounting portion (53) is plate-shaped and comprises a first plate body and a second plate body connected to each other, the first plate body being connected to the load-bearing structure (20); along the direction from the load-bearing structure (20) to the base (10), the width of the first plate body gradually decreases, the size of the second plate body remains unchanged, and the minimum width of the first plate body is equal to the minimum width of the load-bearing structure (20). The width of the second plate is consistent; The second mounting portion (54) is plate-shaped, and the width of at least a portion of the second mounting portion (54) gradually increases in a direction from the load-bearing structure (20) to the base (10).

5. The AGV lifting mechanism according to claim 1, characterized in that: The first driven component (32) comprises: A first connecting rod (321) pivotally connected to the load-bearing structure (20); A second connecting rod (322) is pivotally connected to the base (10); A first connecting shaft (323), the first connecting rod (321) and the second connecting rod (322) are rotatably sleeved on the first connecting shaft (323), and the active member (31) is pivotally connected to the first connecting shaft (323).

6. The AGV lifting mechanism according to claim 5, characterized in that: The first connecting rod (321) and the second connecting rod (322) have the same length, the first connecting rod (321) is arranged opposite to the pivot end of the load-bearing structure (20), and the second connecting rod (322) is arranged opposite to the pivot end of the base (10), so that the angle between the first connecting rod (321) and the first connecting shaft (323) is the same as the angle between the second connecting rod (322) and the first connecting shaft (323).

7. The AGV lifting mechanism according to claim 5, characterized in that: The second driven component (33) comprises: A third connecting rod (331) is pivotally connected to the load-bearing structure (20); a fourth connecting rod (332), wherein a first end of the fourth connecting rod (332) is rotatably sleeved on the first connecting shaft (323); a second connecting shaft (333), the second ends of the third connecting rod (331) and the fourth connecting rod (332) being rotatably sleeved on the second connecting shaft (333), and at least a portion of the second connecting shaft (333) being matched with the guide portion (41); The third connecting rod (331) and the first connecting rod (321) are arranged parallel to each other, and the extension direction of the fourth connecting rod (332) and the bearing surface of the bearing structure (20) are arranged parallel to each other.

8. The AGV lifting mechanism according to claim 7, characterized in that: The third connecting rod (331) and the first connecting rod (321) are arranged parallel to each other, so that a parallelogram structure is formed between the first connecting rod (321), the third connecting rod (331), the fourth connecting rod (332) and the load-bearing structure (20); The second connecting shaft (333) and the first connecting shaft (323) are arranged parallel to each other and located at the same height, and the second connecting shaft (333) cooperates with the guide portion (41) to slide along the extension direction of the guide portion (41).

9. The AGV lifting mechanism according to claim 5, characterized in that: The second driven component (33) comprises: A third connecting rod (331) is pivotally connected to the base (10); a fourth connecting rod (332), wherein a first end of the fourth connecting rod (332) is rotatably sleeved on the first connecting shaft (323); a second connecting shaft (333), the second ends of the third connecting rod (331) and the fourth connecting rod (332) being rotatably sleeved on the second connecting shaft (333), and at least a portion of the second connecting shaft (333) being matched with the guide portion (41); The third connecting rod (331) and the first connecting rod (321) are arranged parallel to each other, and the extension direction of the fourth connecting rod (332) is arranged parallel to the base (10).

10. The AGV lifting mechanism according to claim 8, characterized in that: The guide structure (40) comprises two guide parts (41) arranged opposite to each other, each guide part (41) is a concave part, and the two ends of the second connecting shaft (333) respectively extend into the two guide parts (41) to slide along the extension direction of the guide parts (41).

11. The AGV lifting mechanism according to claim 5, characterized in that: The first connecting rod (321) comprises: Two first rod bodies (3211) arranged opposite to each other, one end of each of the first rod bodies (3211) being pivotally connected to the load-bearing structure (20) and the other end being sleeved on the first connecting shaft (323); A second rod body (3212), wherein two ends of the second rod body (3212) are respectively connected to the two first rod bodies (3211); A third rod body (3213), one end of the third rod body (3213) is connected to the second rod body (3212), and the other end of the third rod body (3213) is sleeved on the first connecting shaft (323).

12. The AGV lifting mechanism according to claim 11, characterized in that: The end of the first rod body (3211) connected to the load-bearing structure (20) has a first sleeve, and the first sleeve is sleeved on a first pivot shaft to be pivotally connected to the load-bearing structure (20) through the first pivot shaft. The end of the first rod body (3211) connected to the first connecting shaft (323) has a second sleeve, and the second sleeve is sleeved on the first connecting shaft (323).

13. The AGV lifting mechanism according to claim 5 or 11, characterized in that: The second connecting rod (322) comprises: Two fourth rod bodies (3221) arranged opposite to each other, one end of each fourth rod body (3221) being pivotally connected to the base (10) and the other end being sleeved on the first connecting shaft (323); a fifth rod body (3222), wherein two ends of the fifth rod body (3222) are respectively connected to the two fourth rod bodies (3221); A sixth rod body (3223), one end of the sixth rod body (3223) is connected to the fifth rod body (3222), and the other end of the sixth rod body (3223) is sleeved on the first connecting shaft (323).

14. The AGV lifting mechanism according to claim 13, characterized in that: The end of the second connecting rod (322) connected to the base (10) has a third sleeve, and the third sleeve is sleeved on the second pivot shaft to be pivotally connected to the base (10) through the second pivot shaft. The end of the second connecting rod (322) connected to the first connecting shaft (323) has a fourth sleeve, and the fourth sleeve is sleeved on the first connecting shaft (323).

15. The AGV lifting mechanism according to claim 7, characterized in that: The third connecting rod (331) comprises two seventh rod bodies (3311), an eighth rod body (3312) and a ninth rod body (3313) which are arranged opposite to each other, one end of each of the seventh rod bodies (3311) is pivotally connected to the load-bearing structure (20), the other end of each of the seventh rod bodies (3311) is sleeved on the second connecting shaft (333), the two ends of the eighth rod body (3312) are respectively connected to the two seventh rod bodies (3311), one end of the ninth rod body (3313) is connected to the eighth rod body (3312), and the other end of the ninth rod body (3313) is sleeved on the second connecting shaft (333).

16. The AGV lifting mechanism according to claim 15, characterized in that: The end of the third connecting rod (331) connected to the load-bearing structure (20) has a fifth sleeve, and the fifth sleeve is sleeved on the third pivot shaft to be pivotally connected to the load-bearing structure (20) through the third pivot shaft. The end of the third connecting rod (331) connected to the second connecting shaft (333) has a sixth sleeve, and the sixth sleeve is sleeved on the second connecting shaft (333).

17. An AGV, characterized in that: include: A chassis (60) comprises a frame assembly and a swing bridge (63), wherein the swing bridge (63) is swingably arranged on the frame assembly, the swing bridge (63) is located on one side of the frame assembly, and the frame assembly comprises a front frame (61) and a rear frame (62) which are pivotally connected; a swing axis of the swing bridge (63) is along the driving direction of the frame assembly; An AGV lifting mechanism (80) is arranged on the chassis (60); Wherein, the AGV lifting mechanism (80) is the AGV lifting mechanism described in any one of claims 1 to 16.

18. The AGV according to claim 17, characterized in that: One of the front frame (61) and the rear frame (62) has a mounting protrusion (64), and the other of the front frame (61) and the rear frame (62) has a mounting recess (65). The mounting protrusion (64) extends into the mounting recess (65) and is pivotally connected to the mounting recess (65) to connect the front frame (61) and the rear frame (62).

19. The AGV according to claim 17, characterized in that: A stop structure is provided between the front frame (61) and the rear frame (62), wherein: During the swinging process of the front frame (61), the stop structure is used to limit and stop the front frame (61); or During the swinging process of the rear frame (62), the stop structure is used to limit and stop the rear frame (62); or During the swinging process of the front frame (61) and the rear frame (62), the stop structure is used to limit and stop the front frame (61) and the rear frame (62).

20. The AGV according to claim 17, characterized in that: The AGV also includes: A driving wheel (71) rotatably arranged on the swing bridge (63); A driven wheel (72) is rotatably arranged on the frame assembly, and the driving wheel (71) is connected to the driven wheel (72) to drive the driven wheel (72) to rotate; A driving wheel driving device (73) is drivingly connected to the driving wheel (71) to drive the driving wheel (71) to rotate, and a portion of the driving wheel driving device (73) is embedded in the swing bridge (63).

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