CN108689331B - Base and carrier comprising same - Google Patents
Base and carrier comprising same Download PDFInfo
- Publication number
- CN108689331B CN108689331B CN201710222540.8A CN201710222540A CN108689331B CN 108689331 B CN108689331 B CN 108689331B CN 201710222540 A CN201710222540 A CN 201710222540A CN 108689331 B CN108689331 B CN 108689331B
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- China
- Prior art keywords
- link
- chassis
- connecting rod
- rotatably connected
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0625—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement with wheels for moving around the floor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0633—Mechanical arrangements not covered by the following subgroups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Invalid Beds And Related Equipment (AREA)
- Handcart (AREA)
Abstract
A truck of the kind set and including this set, this set includes: the bottom of the chassis is provided with two or more wheels; the lifting mechanism is arranged on the chassis and comprises: first and second links arranged side by side in a plane parallel to the chassis; first and second link members parallel to each other, the first link member being rotatably connected to the same end of the first link and the second link in the length direction, the second link member being rotatably connected to the other ends of the first and second link in the length direction; a carrier rotatably connected to the first and second connectors for carrying an object; one end of the limiting rod is rotatably connected to the chassis, the other end of the limiting rod is rotatably connected to the bearing piece, and the distances from the rotating shaft at one end of the limiting rod to the rotating shaft at the other end of the limiting rod are equal; and a position adjuster rotatably coupled to the first rotating shaft between the first link and/or the second link and the second link for changing a position of the first rotating shaft with respect to the chassis.
Description
Technical Field
Embodiments of the present invention relate to a base and a truck including the same.
Background
The traditional warehouse warehousing and warehouse delivery are generally operated by warehouse staff by using a forklift or pushing a trolley, and goods are sequentially placed on corresponding goods shelves and corresponding positions. The process not only consumes much time, but also has high labor cost, and when the types of goods in the warehouse are numerous, the operation process is complex and is easy to make mistakes.
At present, warehouse automation is being tried, when a warehouse is out of the warehouse and put in the warehouse, a warehouse carrier is adopted to carry goods, the carrier enters a storage area, a needed goods shelf is searched and sent to a sorting workstation to complete warehouse in-out operation.
The carrier often need change cargo platform's height, and the motion of direction of height is a linear motion, and the linear motion pair usually has the structure complicacy, and the fault rate is high, and be difficult to maintain the defect such as. Furthermore, in order to change the height of the loading platform without tilting the loading platform, additional limiting structures are often required to maintain the angle of the loading platform, or multiple driving mechanisms are used to change the height of the loading platform in a synchronous manner. The mechanism for changing the height of the loading platform is complex, and occupies more space and production cost.
Disclosure of Invention
The embodiment of the invention provides a base and a transport vehicle comprising the same, wherein the base is provided with a lifting mechanism which is used for adjusting the height of a bearing part platform and has a simple structure, and the height of the bearing part platform is simple, convenient and adjustable.
In one aspect, embodiments of the present invention provide a base, including: the bottom of the chassis is provided with two or more wheels; the lifting mechanism is arranged on the chassis and comprises: a first link and a second link arranged side by side in a plane parallel to the chassis; the first connecting piece and the second connecting piece are parallel to each other, the first connecting piece is rotatably connected to the same end of the first connecting rod and the second connecting rod along the length direction, the second connecting piece is rotatably connected to the other end of the first connecting rod and the other end of the second connecting rod along the length direction, and the first connecting piece and the second connecting piece are respectively arranged at two opposite ends of the first connecting rod and the second connecting rod along the length direction; the bearing piece is rotatably connected to the opposite ends of the first connecting piece and the second connecting piece, which are connected with the first connecting rod and the second connecting rod, and is used for bearing an object, and a connecting line of a rotating shaft of the bearing piece, which is rotatably connected with the first connecting piece, to a rotating shaft of the bearing piece, which is rotatably connected with the second connecting piece, is parallel to the chassis; at least one limiting rod, one end of which is rotatably connected to the chassis, the other end of which is rotatably connected to the bearing piece, and the distances from the rotating shaft at one end of the limiting rod to the rotating shaft at the other end of the limiting rod are equal; and a position adjuster rotatably connected to a first rotating shaft between the first link and/or the second link and the second link for changing a position of the first rotating shaft with respect to the chassis.
Illustratively, the carrier comprises: the third connecting rod and the fourth connecting rod are parallel to the first connecting rod and the second connecting rod and are arranged in parallel in a plane parallel to the chassis, two ends of the third connecting rod in the length direction are rotatably connected to the first connecting piece and the second connecting piece, and two ends of the fourth connecting rod in the length direction are rotatably connected to the first connecting piece and the second connecting piece; and an object stage fixed to the third link and the fourth link and parallel to the chassis.
Illustratively, the stage includes a platform and at least four posts extending from the platform toward the chassis, the at least four posts being secured to the third link and the fourth link, respectively, the platform being parallel to the chassis.
Illustratively, the object stage includes four columns extending from the platform toward the chassis, the four columns being symmetrically disposed on the platform about an axis parallel to a length direction of the first link and an axis perpendicular to the length direction of the first link.
Illustratively, the carrier comprises: the platform is parallel to the chassis.
Illustratively, the platform includes four columns extending toward the chassis, the four columns being symmetrically disposed on the platform about an axis of the platform parallel to a length direction of the first link and an axis perpendicular to the length direction of the first link, two of the four columns being rotationally connected to the first link, and the remaining two of the four columns being rotationally connected to the second link.
Illustratively, the at least one limiting rod is rotatably connected to the second rotating shaft between the first connecting piece and the bearing piece.
Exemplarily, the number of the limiting rods is two, and the two limiting rods are respectively and rotatably connected to two sides of the bearing part, which are located on an axis parallel to the length direction of the first connecting rod.
Illustratively, one ends of the two limiting rods, which are not connected with the bearing piece, are respectively and rotatably connected to two sides of the chassis, which are positioned on an axis parallel to the length direction of the first connecting rod.
Exemplarily, the number of the limiting rods is two, and the two limiting rods are respectively and rotatably connected to the third connecting rod and the rotating shaft between the fourth connecting rod of the bearing part and the first connecting part.
Illustratively, the number of the limiting rods is two, and the two limiting rods are respectively connected to any two of the at least four pillars of the bearing part in a rotating manner.
Illustratively, the ends of the two restraint rods that are not connected to the carrier are coaxially rotationally connected to the chassis.
Illustratively, the number of the limiting rods is two, and one ends of the two limiting rods are respectively and rotatably connected to two of the four pillars close to the first connecting piece.
Illustratively, the projection of the limiting rod on the plane where the chassis is located is parallel to the first connecting rod and the second connecting rod.
Illustratively, the position adjuster is a crank rocker.
Illustratively, the position adjuster includes a crank and a connecting rod, one end of the connecting rod is rotatably connected to the crank, the other end of the connecting rod is rotatably connected to the first rotating shaft, one end of the crank, which is far away from the connecting rod, is connected to and driven to rotate by a motor, and the motor is fixed to the chassis.
Illustratively, the central axis of the bearing part along the length direction of the first connecting rod is superposed with the middle line between the first connecting rod and the second connecting rod and the central axis of the first connecting rod and the second connecting rod along the length direction of the first connecting rod in the height direction of the chassis.
The chassis is provided with a column extending upwards, and the other end of the at least one limiting rod, which is not connected with the bearing part, is rotatably connected with the column.
For example, at least one of the connecting lines from the rotating shaft of the bearing part rotatably connected with the first connecting part to the rotating shaft of the bearing part rotatably connected with the second connecting part is parallel to the first connecting rod and the second connecting rod
In another aspect, embodiments of the present invention provide a cart, including: a base, as described above; a camera disposed on the chassis.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description only relate to some embodiments of the present invention and are not limiting on the present invention.
FIG. 1 shows a front view of an exemplary base according to a first embodiment of the present invention;
FIG. 2 shows a side view of an exemplary base according to a first embodiment of the present invention;
FIG. 3 shows a front view of the base of the removal platform according to the first embodiment of the invention;
FIG. 4 shows a front view of the base of another removal platform according to the first embodiment of the invention
FIG. 5 is a schematic diagram showing the position adjuster implementing adjustment according to the first embodiment of the present invention;
FIG. 6 shows a front view of a base according to a first embodiment of the invention;
fig. 7 shows a side view of a base according to a first embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
First embodiment
A first embodiment of the present invention provides a base 100, fig. 1 shows a front view of the base 100, fig. 2 shows a side view of the base 100, and in conjunction with fig. 1 and 2, the base 100 includes: a chassis 1, the bottom of which is provided with two or more wheels 20; the lifting mechanism is arranged on the chassis 1 and comprises: a first link 3 and a second link 31, arranged side by side in a plane parallel to the chassis 1; the connecting device comprises a first connecting piece 2-1 and a second connecting piece 2-2, wherein the first connecting piece 2-1 is rotatably connected to the same end of the first connecting rod 3 and the second connecting rod 31 along the length direction, the second connecting piece 2-2 is rotatably connected to the other end of the first connecting rod 3 and the other end of the second connecting rod 31 along the length direction, and the first connecting piece 2-1 and the second connecting piece 2-2 are respectively arranged at the two opposite ends of the first connecting rod 3 and the second connecting rod 31 along the length direction; the bearing piece is rotationally connected to the opposite ends of the first connecting piece 2-1 and the second connecting piece 2-2, which are connected with the first connecting rod and the second connecting rod, and is used for bearing an object, and the connecting line of a rotating shaft a of the bearing piece, which is rotationally connected with the first connecting piece, to a rotating shaft d of the bearing piece, which is rotationally connected with the second connecting piece, is parallel to the chassis 1; the limiting rods 5 are equal in effective length, one ends of the limiting rods are rotatably connected to the chassis 1, and the other ends of the limiting rods 5 are rotatably connected to the bearing parts; a position adjuster, which is rotatably connected to the first link 3 and/or a first axis of rotation, e.g. axis of rotation e, between said second link 31 and the second link 2-2, for changing the position of the first axis of rotation relative to the chassis 1.
In fig. 2, a, b, c, d, e, f, g, h, i each represent a revolute pair, e.g., a rotary shaft, between the rotary connecting members.
Exemplarily, in the dock according to an embodiment of the present invention, the carrier may include: a platform 4 and at least four columns extending from the platform 4 towards the chassis, said at least four columns being pivotally connected to the first 2-1 and second 2-2 connectors, respectively, the platform 4 being parallel to the chassis 1.
Illustratively, the carrier may comprise four columns 41-44 extending from the platform towards the chassis, the four columns 41-44 being symmetrically arranged on the platform with respect to an axis of the platform 4 parallel to the length direction of the first link and an axis perpendicular to the length direction of the first link, two of the four columns being pivotally connected to the first link 2-1 and the remaining two of the four columns being pivotally connected to the second link 2-2. Fig. 2 shows in a side view two cylinders 41 and 42 extending from the platform 4 towards the chassis 1, the first cylinder 41 and the first connecting part 2-1 being pivotally connected to the pivot axis a, the second cylinder 42 and the second connecting part 2-2 being pivotally connected to the pivot axis d, due to the occlusion, the front view of fig. 1 does not show two further cylinders, the side view of fig. 2 does not show two further cylinders, which may be arranged below the platform 4 symmetrically to the first cylinder 41 and the second cylinder 42, and in connection with fig. 3, fig. 3 shows a front view of the base with two stop levers after the carrier has been removed, the third cylinder 43 may be pivotally connected to one end 210 of the first connecting part 2-1, and the fourth cylinder 44 may be pivotally connected to one end 220 of the second connecting part 2-2.
Fig. 3 is only an example in which four columns protruding from the platform are symmetrically arranged, but the embodiment of the present invention is not limited to the arrangement of the four columns as long as the four columns are rotatably connected to the first and second connecting members and allow the carrier to be stably arranged on the chassis and stably change the height with the adjustment of the position adjuster, for example, the four columns may be asymmetrically arranged on the platform.
Alternatively, the carrier may also comprise more than four columns protruding from the platform, for example five or six, for the example of five columns, on the basis of the illustrated example of fig. 1-3, a fifth column 45 may be arranged at the midpoint of the line connecting the first column 41 and the third column 43 and one end is pivotally connected to the first connecting member, and for the example of six columns, a sixth column 46 may be arranged at the midpoint of the line connecting the second column 42 and the fourth column 44 and one end is pivotally connected to the second connecting member 2-2. For simplicity, a schematic diagram is not shown, and the embodiment of the present invention is not limited to the arrangement of more than four columns, as long as the purpose of the embodiment of the present invention can be achieved.
Illustratively, the posts extending from the platform may be integral with the platform or separately formed and secured to the platform.
Alternatively, in a dock according to an embodiment of the present invention, another alternative implementation of the carrier is: the carrier may include a third link 32 and a fourth link 33, as shown in fig. 4, the third link 32 and the fourth link 33 are arranged side by side in a plane parallel to the chassis 1 in parallel to the first link 3 and the second link 31, both ends of the third link 32 in a length direction thereof are rotatably connected to the first link 2-1 and the second link 2-2, and both ends of the fourth link 33 in a length direction thereof are rotatably connected to the first link 2-1 and the second link 2-3; and a stage fixed to the third link 32 and the fourth link 33 and parallel to the chassis 1.
Illustratively, the stage includes a platform 4 and at least four posts extending from the platform toward the chassis, the at least four posts being connected to, e.g., fixed to, the third link 32 and the fourth link 33, respectively; or, the at least four cylinders are rotatably connected to the first connecting member 2-1 and the second connecting member 2-2; alternatively, at least four column sections are connected to the third link 32 and the fourth link 33, e.g. fixed to the third link 32 and the fourth link 33 and another section is connected to the first link 2-1 and the second link 2-2, the platform 4 being parallel to the chassis 1.
Illustratively, at least four posts may be integral with the third link 32 and the fourth link 33, respectively.
Illustratively, the stage includes four columns protruding from the platform 4 toward the chassis, the four columns being symmetrically disposed on the platform 4 about an axis parallel to the lengthwise direction of the first link 3 and an axis perpendicular to the lengthwise direction of the first link 3. However, the embodiment of the present invention does not limit the arrangement manner of the four columns, as long as the four columns are fixedly connected with the third link and the fourth link, and the bearing member is stably arranged on the chassis and the height of the bearing member is stably changed along with the adjustment of the position adjuster, for example, the four columns may be asymmetrically arranged on the platform. For example, the four columns may be rotatably connected with the first and second links, or may be partially rotatably connected with the first and second links and partially rotatably connected with the third and/or fourth links.
Alternatively, the object stage may also include more than four columns extending from the platform, for example, five or six columns, and more than four columns may be provided as described above, and the embodiment of the present invention is not limited to the arrangement of more than four columns, as long as the purpose of the embodiment of the present invention can be achieved.
Illustratively, the posts extending from the platform may be integral with the platform or separately formed and secured to the platform.
For example, the shape of the column is not limited to the embodiments of the present invention, and the interface may be an ellipse, a circle, a rectangle, a square, a symmetrical polygon, or an irregular shape. The columns provided on the platform may be connected to each other by ribs fixed to or formed integrally with the platform, or may be provided with a shape having an increased cross-sectional area at the bottom thereof to facilitate the fixation of the columns to the platform.
Exemplarily, in the base according to the embodiment of the present invention, the other end of the at least one stopper rod 5 rotatably connected to the carrier may be: the other end of the at least one limiting rod is rotatably connected to a second rotating shaft between the first connecting piece 2-1 and the bearing piece, i.e. the first connecting piece, the bearing piece and the limiting rod are coaxially and rotatably connected. Fig. 2 shows an example in which the arresting bar 5, the first connecting part 2-1 and the carrier part can be rotatably connected coaxially a.
Alternatively, the other end of the at least one gag lever post 5 may also be rotationally connected to the carrier, in case the carrier comprises a platform and at least four posts protruding from the platform towards the chassis, to any position of the platform or to at least four posts, in case the carrier comprises a third link and a fourth link, to the third link or the fourth link.
Illustratively, in the embodiment of the invention, one end of at least one limiting rod connected with the chassis can be rotatably connected with an upward extending column arranged on the chassis through a rotating shaft g. However, the embodiment of the present invention is not limited to the rotation connection manner of the limiting rod and the chassis as long as the limiting rod can rotate relative to the chassis, for example, the limiting rod may be a curved rod, and one end of the limiting rod, which is not connected with the bearing member, is directly connected to a shaft arranged on the chassis in a rotation manner.
For example, in the base according to the embodiment of the present invention, the number of the position restricting bars may be two, and two position restricting bars may be respectively rotatably connected to both sides of the axis parallel to the longitudinal direction L of the first link of the carrier, for example, two position restricting bars 51 and 52 may be respectively rotatably connected to both sides of the axis parallel to the longitudinal direction L of the first link of the platform 4, or a column on both sides of the axis.
For example, the connection positions of the two limit rods and the carrier may be symmetrical with respect to an axis of the carrier parallel to the length direction L of the first link.
For example, the two limiting rods can respectively rotate the rotating shafts between the third connecting rod and the fourth connecting rod connected to the bearing part and the first connecting part, and can also respectively rotate any two of the at least four pillars connected to the bearing part. Alternatively, one ends of the two stopper rods may be rotatably connected to two of the four posts adjacent to the first connecting member 2-1, for example, the first and third cylinders 41 and 43, respectively.
Illustratively, one ends of the two limiting rods, which are not connected with the bearing pieces, are respectively and rotatably connected to two sides of the chassis, which are positioned on an axis parallel to the length direction L of the first connecting rod. For example, as shown in fig. 3, two stopper rods 51 and 52 are rotatably connected to two cylinders 11 and 12, respectively, provided on both sides of the chassis 1 on an axis parallel to the length direction L. However, the embodiment of the present invention does not limit the rotation connection manner of the two position-limiting rods and the chassis, for example, the two position-limiting rods 51 and 52 may be jointly rotatably connected to the same column body as long as the effective lengths thereof are equal to each other, so as to stabilize the lifting movement of the bearing member, or the two position-limiting rods 51 and 52 may be formed as curved rods and respectively rotatably connected to the chassis or coaxially rotatably connected to the chassis.
For example, the connection positions of the two limit rods and the chassis may be symmetrical with respect to an axis of the carrier parallel to the length direction L of the first link.
It should be noted that the effective length of the stopper rod refers to the linear distance from the rotational axis of one end of the rod member to the rotational axis of the other end of the rod member, that is, the actual length of the stopper rod for a straight rod, and the effective length of the stopper rod refers to the linear distance from the rotational axis of one end of the rod member connected to the chassis to the rotational axis of the other end of the rod member connected to the carrier, that is, the linear distance between the two rotational axes for a bent rod member.
For example, in an embodiment of the present invention, a projection of the at least one limiting rod on a plane where the chassis is located may be parallel to the first connecting rod and the second connecting rod.
Illustratively, in the base according to an embodiment of the present invention, the position adjuster is a crank rocker. The position regulator comprises a crank 7 and a connecting rod 6, one end of the connecting rod 6 is rotatably connected to the crank 7, the other end of the connecting rod 6 is rotatably connected to a first rotating shaft, for example, a rotating shaft e, of the first connecting rod and the second connecting rod which are rotatably connected, one end of the crank 7 far away from the connecting rod 6 is connected to a motor 9, the motor 9 drives the crank 7 to rotate, and the connecting rod 6 drives the fourth connecting rods 2-4 to reciprocate. Fig. 5 shows a schematic view of the position adjuster for achieving adjustment, the full lines and the broken lines in fig. 5 show the extreme positions of the swing of the fourth link 2-4, by which the position of the rotation axis between the first link 3 and the second link 2-2 relative to the chassis 1 is changed, thereby achieving a change of the position of the load bearing member relative to the chassis 1, the platform 4 of the load bearing member in fig. 5 being lifted from the lowest position shown by the broken lines to the highest position shown by the full lines.
Illustratively, the other end of the connecting rod 6 may be rotatably connected to a rotating shaft of the second connecting rod rotatably connected to the second connecting member, and accordingly, the positions of the crank 7 and the connecting rod 6 may be adjusted to the other side of the motor for the convenience of connection. Alternatively, two cranks 7 and two connecting rods 6 symmetrically arranged at two sides of the motor can be provided, one of the two connecting rods 6 can be rotatably connected to a rotating shaft of the first connecting rod rotatably connected with the first connecting piece, and the other of the two connecting rods 6 can be rotatably connected to a rotating shaft of the second connecting rod rotatably connected with the first connecting piece.
Illustratively, the motor 9 is fixed to the chassis 1.
Exemplarily, a lifting mechanism comprising a first and a second link, a carrier, at least one stopper rod and a position adjuster may be arranged above the chassis 1 via a third and a fourth link 2-3, 2-4, as shown in fig. 2.
Alternatively, the third and fourth links 2-3, 2-4 are rotatably connected to the chassis 1 and the lifting mechanism is also rotatable with respect to the third and fourth links 2-3, 2-4.
Illustratively, as shown in fig. 2, the first link 3 is rotatably connected to one end of the first link 2-1 perpendicular to the length direction of the first link 3, and the second link 31 is rotatably connected to the other end of the first link 2-1 perpendicular to the length direction of the first link 3, and likewise, the other ends of the first link 3 and the second link 31 in the length direction are rotatably connected to the opposite ends of the second link 2-2 perpendicular to the length direction of the first link 3, respectively. One end of the third link 2-3 perpendicular to the length direction of the first link 3 is coaxially connected to the first link 2-1 and the first link 3 and the other end is coaxially connected to the other end of the first link 2-1 and the second link 31, one end of the fourth link 2-4 perpendicular to the length direction of the first link 3 is coaxially connected to one end of the second link 2-2 and the first link 3 and the other end thereof is coaxially connected to the other end of the second link 2-2 and the second link 31.
Alternatively, the position regulator of the embodiment of the invention can also be realized by adopting an electric push rod, and one end of the push rod is fixed to the rotating shaft between the first connecting rod and the second connecting piece, so that the position of the rotating shaft is changed by stretching and contracting the push rod, and the lifting of the bearing piece is realized.
For the base according to the embodiment of the present invention, the first link 3 and the second link 31 are always parallel to the chassis 1, and the first link 2-1 and the second link 2-2 are parallel to each other, and the first link 3 and the second link 31 are parallel to at least one of the connecting lines of the rotating shaft rotatably connected to the first link and the rotating shaft rotatably connected to the second link of the carrying member, as shown in fig. 2, the first link 1 and the second link 31 are parallel to the connecting line between the rotating shafts a and d, for the example where the carrying member includes a platform, as shown in fig. 2, the connecting lines of the first link 3, the first link 2-1, the second link 2-2 and the carrying member from the rotating shaft a of the first link 2-1 to the rotating shaft d of the carrying member and the second link 2-2 constitute a parallelogram, and likewise, on the other side, the second link 31, and the second link 31, The first connecting piece 2-1, the second connecting piece 2-2 and a connecting line from the bearing piece to the rotating shaft on the other side of the first connecting piece 2-1 to the rotating shaft on the other side of the bearing piece to the rotating shaft on the other side of the second connecting piece 2-2 form a parallelogram; for the example of the carrier comprising a platform, a third link and a fourth link, as shown in fig. 4, the first link 3, the first link 2-1, the second link 2-2 and the third link 32 of the carrier constitute a parallelogram, and likewise, on the other side, the second link 31, the first link 2-1, the second link 2-2 and the fourth link 33 of the carrier constitute a parallelogram; in this way, the platform 4 is always kept parallel to the chassis 1, regardless of how the position adjuster adjusts the position of the first rotating shaft.
This can be explained in conjunction with the situation shown in fig. 2 and 3 and the situation shown in fig. 6 and 7, where fig. 2 and 3 show a front view of the base with the platform removed and a side view of the corresponding situation, respectively, and correspondingly, fig. 6 and 7 correspond to a front view of the base with the platform removed and a side view of the corresponding situation, respectively, and when the link 6 is moved by the crank 7 to change the position of the first rotation axis between the first link 3 and the second link 2-2, the platform 4 can move circularly around the hinge g under the condition of being parallel to the chassis 1, with the radius of the effective length of the stopper rod 5, and the platform 4 moves from the height shown in fig. 2 to the height shown in fig. 7, so as to achieve the lifting and lowering of the carrier.
Further, under the condition that the effective length of the limiting rod 5 is long, the track of the platform 4 is approximately a straight line perpendicular to the chassis direction, and therefore the platform 4 can be lifted more stably.
Illustratively, in the base according to the embodiment of the present invention, in order to further enhance the stability, at least one link may be further disposed between the first link and the second link in a plane coplanar with the first link and the second link, and both ends of the link in a length direction thereof may also be rotatably connected to the first link and the second link, respectively, or the first link and the second link may be provided with an intermediate link, or the first link and the second link may be integrated with the intermediate link, and the link may be a plate extending from the first link to the second link, which is not limited thereto.
With respect to the base according to the first embodiment of the present invention, there is provided a lifting mechanism provided above a chassis, the lifting mechanism including: a first link and a second link arranged side by side in a plane parallel to the chassis; the first connecting piece and the second connecting piece are parallel to each other, the first connecting piece is rotatably connected to the same end of the first connecting rod and the second connecting rod along the length direction, the second connecting piece is rotatably connected to the other end of the first connecting rod and the other end of the second connecting rod along the length direction, and the first connecting piece and the second connecting piece are respectively arranged at two opposite ends of the first connecting rod and the second connecting rod along the length direction; the bearing piece is rotatably connected to the opposite ends of the first connecting piece and the second connecting piece, which are connected with the first connecting rod and the second connecting rod, and is used for bearing an object, and a connecting line of a rotating shaft of the bearing piece, which is rotatably connected with the first connecting piece, to a rotating shaft of the bearing piece, which is rotatably connected with the second connecting piece, is parallel to the chassis; one end of the limiting rod is rotatably connected to the chassis, the other end of the limiting rod is rotatably connected to the bearing piece, and the effective lengths of the limiting rods are equal; the position regulator is rotationally connected to a first rotating shaft between the first connecting rod and/or the second connecting rod and the second connecting piece and is used for changing the position of the first rotating shaft relative to the chassis, so that the lifting of the lifting mechanism is realized under the regulation of the position regulator, the base completely realizes a lifting device similar to a linear motion track through a rotating pair, and the lifting mechanism is simple and reliable in structure and convenient to maintain; the driving motor can realize two actions of lifting and descending without positive and negative rotation; the self-locking of the mechanical structure can be realized at the highest point and the lowest point, and a motor is not needed to provide holding torque.
Second embodiment
A second embodiment of the present invention provides a carrier, as shown in fig. 2, including: a base 100 as described in the first embodiment of the present invention; and a camera 12 disposed on the chassis 1.
For example, for the truck according to the embodiment of the present invention, a camera may be disposed at a middle position of the lifting mechanism, and may be used to scan a two-dimensional code of goods and the ground.
For the truck according to the second embodiment of the present invention, which includes the base described in the first embodiment of the present invention, the position of the first rotating shaft relative to the chassis is changed through the adjustment of the position adjuster, so that the lifting of the lifting mechanism is realized under the adjustment of the position adjuster, the truck realizes the lifting device which is similar to a linear motion track completely through a rotating pair, and the truck has a simple and reliable structure and is convenient to maintain; the driving motor can realize two actions of lifting and descending without positive and negative rotation; the self-locking of the mechanical structure can be realized at the highest point and the lowest point, and a motor is not needed to provide holding torque.
The above description is only an embodiment of the present invention, but the scope of the embodiments of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the embodiments of the present invention, and all the changes or substitutions should be covered by the scope of the embodiments of the present invention.
Claims (20)
1. A base, comprising:
the bottom of the chassis is provided with two or more wheels;
the lifting mechanism is arranged on the chassis and comprises:
a first link and a second link arranged side by side in a plane parallel to the chassis;
the first connecting piece and the second connecting piece are parallel to each other, the first connecting piece is rotatably connected to the same end of the first connecting rod and the second connecting rod along the length direction, the second connecting piece is rotatably connected to the other end of the first connecting rod and the other end of the second connecting rod along the length direction, and the first connecting piece and the second connecting piece are respectively arranged at two opposite ends of the first connecting rod and the second connecting rod along the length direction;
the bearing piece is rotatably connected to the opposite ends of the first connecting piece and the second connecting piece, which are connected with the first connecting rod and the second connecting rod, and is used for bearing an object, and a connecting line of a rotating shaft of the bearing piece, which is rotatably connected with the first connecting piece, to a rotating shaft of the bearing piece, which is rotatably connected with the second connecting piece, is parallel to the chassis;
the limiting rod is rotatably connected to the chassis at one end and rotatably connected to the bearing piece at the other end, and the effective lengths of the limiting rods are equal; and
a position adjuster rotatably connected to a first shaft between the first link and/or the second link and the second link for changing a position of the first shaft relative to the chassis.
2. The dock of claim 1, wherein the carrier comprises:
the third connecting rod and the fourth connecting rod are parallel to the first connecting rod and the second connecting rod and are arranged in parallel in a plane parallel to the chassis, two ends of the third connecting rod in the length direction of the third connecting rod are rotatably connected to the first connecting piece and the second connecting piece, and two ends of the fourth connecting rod in the length direction of the fourth connecting rod are rotatably connected to the first connecting piece and the second connecting piece; and
a stage secured to the third link and the fourth link.
3. The base of claim 2, wherein the stage comprises a platform and at least four posts extending from the platform towards the chassis, the at least four posts being connected to the third and fourth links, respectively, and/or the at least four posts being connected to the first and second connectors, respectively, the platform being parallel to the chassis.
4. The base of claim 3, wherein the stage comprises four posts projecting from the platform toward the chassis, the four posts being symmetrically disposed on the platform about an axis parallel to a lengthwise direction of the first link and an axis perpendicular to the lengthwise direction of the first link.
5. The dock of claim 1, wherein the carrier comprises: the platform is parallel to the chassis, and the at least four columns extend from the platform to the chassis and are respectively and rotatably connected to the first connecting piece and the second connecting piece.
6. The base of claim 5, wherein the platform includes four posts projecting toward the chassis, the four posts being symmetrically disposed on the platform about an axis of the platform parallel to a lengthwise direction of the first link and an axis perpendicular to the lengthwise direction of the first link, two of the four posts being rotationally connected to the first connector, and the remaining two of the four posts being rotationally connected to the second connector.
7. The mount of claim 1, wherein the at least one restraint bar is rotationally coupled to a second pivot axis between the first connector and the carrier.
8. The base of claim 1, wherein the number of the limiting rods is two, and the two limiting rods are respectively connected to the two sides of the bearing part in a rotating manner, wherein the two sides are located on an axis parallel to the length direction of the first connecting rod.
9. The base of claim 8, wherein the ends of the two limiting rods which are not connected with the bearing part are respectively connected with two sides of the chassis in a rotating mode, wherein the two sides are located on an axis parallel to the length direction of the first connecting rod.
10. The base of claim 3, wherein the number of the limiting rods is two, and the two limiting rods are respectively rotatably connected to the rotating shafts between the third connecting rod and the fourth connecting rod of the bearing part and the first connecting part.
11. The mount of claim 3, wherein the number of restraint posts is two, two restraint posts each rotatably connected to any two of the at least four posts of the carrier.
12. The mount of claim 8, wherein the ends of the two restraint rods not connected to the carrier are coaxially rotationally connected to the chassis.
13. The base of claim 4 or 6, wherein the number of the limiting rods is two, and one ends of the two limiting rods, which are not connected with the chassis, are respectively and rotatably connected to two of the four pillars close to the first connecting piece.
14. The base of any one of claims 1-11, wherein a projection of the restraint bar onto a plane of the chassis is parallel to the first link and the second link.
15. The mount of any one of claims 1-12, wherein the position adjuster is a crank rocker.
16. The base of claim 15, wherein the position adjuster comprises a crank and a link, one end of the link is rotatably connected to the crank, the other end of the link is rotatably connected to the first shaft, one end of the crank remote from the link is connected to and rotated by a motor, and the motor is fixed to the chassis.
17. The substructure of any of claims 1-12, wherein a central axis of the load bearing member along the length of the first link coincides with a midline between the first and second links and a central axis of the first and second connectors along the length of the first link in a height direction of the chassis.
18. The base of any one of claims 1 to 12, wherein an upwardly extending post is provided on the chassis, the other end of the at least one arresting bar not connected to the carrier being pivotally connected to the post.
19. The base of claim 1, wherein at least one of the first link and the second link is parallel to a line connecting a pivot of the bearing member pivotally coupled to the first link to a pivot of the bearing member pivotally coupled to the second link.
20. A cart, comprising:
a base, according to any one of claims 1-19;
a camera disposed on the chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710222540.8A CN108689331B (en) | 2017-04-07 | 2017-04-07 | Base and carrier comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710222540.8A CN108689331B (en) | 2017-04-07 | 2017-04-07 | Base and carrier comprising same |
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| Publication Number | Publication Date |
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| CN108689331A CN108689331A (en) | 2018-10-23 |
| CN108689331B true CN108689331B (en) | 2019-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710222540.8A Active CN108689331B (en) | 2017-04-07 | 2017-04-07 | Base and carrier comprising same |
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| Country | Link |
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| CN (1) | CN108689331B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109775609A (en) * | 2019-01-30 | 2019-05-21 | 牧川精密传动(浙江)有限公司 | A kind of AGV moving trolley and a kind of driving mechanism |
| CN212050356U (en) * | 2020-04-17 | 2020-12-01 | 杭州海康机器人技术有限公司 | Lifting device and automatic guide transport vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103011011A (en) * | 2012-12-21 | 2013-04-03 | 安徽巨一自动化装备有限公司 | Vertical lifting device |
| CN103011013A (en) * | 2012-12-21 | 2013-04-03 | 安徽巨一自动化装备有限公司 | Vertical elevating device with deadweight balancing capability |
| CN203545580U (en) * | 2013-11-08 | 2014-04-16 | 上海威途机械有限公司 | Motorcycle lifting van |
| CN104401903A (en) * | 2014-12-25 | 2015-03-11 | 江苏冠宇机械设备制造有限公司 | Drive device for pull bar lifting table of automobile production line |
| CN205526158U (en) * | 2016-01-13 | 2016-08-31 | 湖南省库塔科技有限公司 | Helicopter ground carrier |
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2017
- 2017-04-07 CN CN201710222540.8A patent/CN108689331B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103011011A (en) * | 2012-12-21 | 2013-04-03 | 安徽巨一自动化装备有限公司 | Vertical lifting device |
| CN103011013A (en) * | 2012-12-21 | 2013-04-03 | 安徽巨一自动化装备有限公司 | Vertical elevating device with deadweight balancing capability |
| CN203545580U (en) * | 2013-11-08 | 2014-04-16 | 上海威途机械有限公司 | Motorcycle lifting van |
| CN104401903A (en) * | 2014-12-25 | 2015-03-11 | 江苏冠宇机械设备制造有限公司 | Drive device for pull bar lifting table of automobile production line |
| CN205526158U (en) * | 2016-01-13 | 2016-08-31 | 湖南省库塔科技有限公司 | Helicopter ground carrier |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108689331A (en) | 2018-10-23 |
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Address after: 100012 Room 101, floor 1, building 1, yard 36, Chuangyuan Road, Chaoyang District, Beijing Patentee after: Beijing jizhijia Technology Co.,Ltd. Address before: 100012 Room 101, floor 1, building 1, yard 36, Chuangyuan Road, Chaoyang District, Beijing Patentee before: Beijing Geekplus Technology Co.,Ltd. |
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