CN111453645A

CN111453645A - Lifting device and AGV trolley with same

Info

Publication number: CN111453645A
Application number: CN201910108363.XA
Authority: CN
Inventors: 张金虎
Original assignee: Beijing Jingdong Century Trading Co Ltd; Beijing Jingdong Shangke Information Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-01-18
Filing date: 2019-01-18
Publication date: 2020-07-28

Abstract

The disclosure provides a lifting device and an AGV trolley with the same. At least one lifting connecting rod and the fixed module are arranged obliquely relatively, the lower end of the lifting connecting rod is rotatably and slidably connected to the fixed module, and the upper end of the lifting connecting rod is rotatably connected to the lifting module. The turntable is rotatably arranged between the fixed module and the lifting module, the turntable is provided with at least one opening through which at least one lifting connecting rod passes, the opening is configured to abut against the lower end of the lifting connecting rod by taking a side hole wall as a contact hole wall, and the orthographic projection of the contact hole wall on the turntable is in the shape of an Archimedes spiral. The lifting driving mechanism is in transmission connection with the turntable and is configured to drive the turntable to rotate. The lifting device is configured to slide the lower end of the lifting connecting rod by rotating the rotary disc, so that the lifting connecting rod drives the lifting module to lift relative to the fixed module.

Description

Lifting device and AGV trolley with same

Technical Field

The utility model relates to a logistics storage transportation equipment technical field especially relates to a lifting device and have device's AGV dolly.

Background

The lifting and rotating structure of the conventional AGV generally comprises a plurality of lead screws, a hollow lead screw, a rotary lifting barrel, a lead screw and a cam, a plurality of connecting rods, an air cylinder, an oil cylinder, an electric cylinder and other design schemes. The existing solutions are capable of achieving the intended purpose, but each solution has use limitations and inherent drawbacks. Particularly on small transport AGVs, there is currently no perfect structure.

For the existing AGV trolley, because of the particularity, the middle of the lifting rotating structure is also the middle of the whole trolley body, and an upper sweeping port and a lower sweeping port are arranged at the middle of the lifting rotating structure, so that the lifting driving force cannot be placed at the middle, and the phenomenon of lifting jamming is easily caused by the offset of the driving force. Therefore, the lifting and rotating structure is complex in design and difficult to realize. The existing scheme is that driving force is placed around the center, for example, a multi-screw structure is adopted, lifting action is realized by three ball screws arranged at 120 degrees, the three screw screws are difficult to be stressed simultaneously in installation and debugging, and the service life of the screw screws is short. The hollow screw structure is damaged firmly, namely, the gears not only are meshed but also move axially, the abrasion is large, and the service life is seriously influenced. The rotary lifting bucket structure is poor in offset load bearing ratio and is not suitable for heavy-load AGV. The lifting cost of the screw rod, the cam and the multi-connecting rod is high, and the debugging is difficult. The cylinder, the oil cylinder and the electric cylinder are not suitable for small AGV carrying.

Disclosure of Invention

One of the main objects of the present disclosure is to overcome at least one of the above drawbacks of the prior art, and to provide a lifting device which can avoid the sweeping head in the prior art, and has no lead screw, low installation and debugging difficulty, and low cost.

It is another primary object of the present disclosure to overcome at least one of the above-mentioned deficiencies of the prior art and to provide an AGV cart having a lift arrangement as described above.

In order to achieve the purpose, the following technical scheme is adopted in the disclosure:

according to one aspect of the present disclosure, a lifting device is provided that is mounted between a stationary module and a lifting module. The lifting device comprises at least one lifting connecting rod, a rotary disc and a lifting driving mechanism. At least one lifting connecting rod and the fixed module are arranged obliquely relatively, the lower end of each lifting connecting rod is rotatably and slidably connected to the fixed module, and the upper end of each lifting connecting rod is rotatably connected to the lifting module. The turntable is rotatably arranged between the fixed module and the lifting module, the turntable is provided with at least one opening through which at least one lifting connecting rod passes, the opening is configured to abut against the lower end of the lifting connecting rod by taking a side hole wall as a contact hole wall, and the orthographic projection of the contact hole wall on the turntable is in the shape of an Archimedes spiral. The lifting driving mechanism is in transmission connection with the turntable and is configured to drive the turntable to rotate. Wherein the lifting device is configured to make the lower end of the lifting connecting rod slide by rotating the turntable, so that the lifting connecting rod drives the lifting module to lift relative to the fixed module.

According to one embodiment of the present disclosure, the fixing module is slidably provided with at least one lower hinge base, and the lower ends of at least one of the lifting links are rotatably connected to the at least one lower hinge base, respectively.

According to one embodiment of the present disclosure, the fixing module is provided with at least one horizontal sliding rail, each horizontal sliding rail is respectively and slidably provided with a horizontal sliding block, and at least one lower hinge base is respectively fixed on at least one horizontal sliding block.

According to one embodiment of the present disclosure, a follower wheel is provided on each lower hinge base, the follower wheel being located between a lower end of the lifting link and the wall of the contact hole of the opening, the wall of the contact hole abutting against the follower wheel.

According to one embodiment of the present disclosure, the lifting module is fixedly provided with at least one upper hinge base, and the upper end of at least one lifting connecting rod is respectively rotatably connected to at least one upper hinge base.

According to one embodiment of the present disclosure, the lifting device includes a plurality of the lifting links, and the plurality of the lifting links are uniformly distributed in a circumferential direction of the turntable.

According to one embodiment of the present disclosure, the lifting device includes two lifting connecting rods, the two lifting connecting rods are distributed in a central symmetrical manner with the center of circle of the turntable as the center, and the two openings are distributed in a central symmetrical manner with the center of circle of the turntable as the center.

According to one embodiment of the present disclosure, an orthographic projection of each lifting link on the rotary table extends in a radial direction of the rotary table, and an orthographic projection of a lower end of each lifting link on the rotary table relative to a sliding path of the fixed module extends in a radial direction of the rotary table.

According to one embodiment of the present disclosure, an orthographic projection of an upper end of each lifting connecting rod on the rotary table is closer to a center of the rotary table than an orthographic projection of a lower end of each lifting connecting rod on the rotary table.

According to one of the embodiments of the present disclosure, a shaft hole is formed in a circle center position of the turntable, the fixing module is provided with a rotating shaft in an upward protruding manner, and at least part of the rotating shaft penetrates through the shaft hole. The rotary table is rotatably arranged on the fixed module through a bearing, the outer ring of the bearing is fixed with the rotary table, and the inner ring of the bearing is fixed with the rotary shaft.

According to one embodiment of the present disclosure, the bearing is a deep groove ball bearing.

According to one of the embodiments of the present disclosure, the outer periphery of the turntable is provided with first teeth, and the lifting driving mechanism includes a first driving motor and a first transmission gear. The first driving motor is arranged between the lifting module and the rotary table. The first transmission gear is in transmission connection with the first driving motor and meshed with first teeth on the periphery of the rotary disc. Wherein the lifting driving mechanism is configured to drive the first transmission gear to rotate through the first driving motor and drive the turntable to rotate through the first transmission gear.

In accordance with another aspect of the present disclosure, an AGV includes a vehicle body including a floor and a lift plate, a travel mechanism, and a load carrying structure. The lifting plate is arranged on the bottom plate in a lifting manner through the lifting device provided by the disclosure and described in the above embodiment.

According to one of the embodiments of the present disclosure, the bottom plate is provided with a first vertical plate, the first vertical plate is provided with a guide rail extending vertically and upwardly, the lifting plate is provided with a second vertical plate, the second vertical plate is provided with a guide block, and the guide block is in sliding fit with the guide rail.

According to one of the embodiments of the present disclosure, the bottom plate is provided with a plurality of first vertical plates, the lifting plate is provided with a plurality of second vertical plates, and the plurality of guide rails on the plurality of first vertical plates are respectively in sliding fit with the plurality of guide blocks on the plurality of second vertical plates.

According to one embodiment of the present disclosure, the AGV includes a swing support plate and a rotary drive mechanism. The rotary supporting plate is rotatably arranged at the top of the lifting plate. The rotary driving mechanism is in transmission connection with the rotary supporting plate and is configured to drive the rotary supporting plate to rotate. Wherein the cargo structure is disposed on the slewing support plate. Wherein the AGV trolley is configured to rotate the cargo carrying structure relative to the floor by rotating the swing support plate.

According to one embodiment of the present disclosure, the rotation support plate has an annular structure, second teeth are disposed on an inner circumference of the rotation support plate, and the rotation driving mechanism includes a second driving motor and a second transmission gear. The second driving motor is arranged on the lifting plate. The second transmission gear is connected to the second driving motor in a transmission mode and meshed with second teeth on the inner periphery of the rotary supporting plate. Wherein the rotary driving mechanism is configured to drive the second transmission gear to rotate through the second driving motor and drive the slewing supporting plate to rotate through the second transmission gear.

According to the technical scheme, the lifting device and the AGV with the lifting device have the advantages and positive effects that:

the lifting device provided by the disclosure comprises a lifting connecting rod, a rotary table and a lifting driving mechanism. The lower end of the lifting connecting rod is rotatably and slidably connected to the fixed module, and the upper end of the lifting connecting rod is rotatably connected to the lifting module. The turntable is provided with an opening which can be abutted against the lower end of the lifting connecting rod through a side hole wall. The lifting driving mechanism drives the turntable to rotate, so that the lower end of the lifting connecting rod slides, and the lifting connecting rod drives the lifting module to lift relative to the fixed module. Therefore, the lifting action is realized by utilizing the rotary disc and the lifting connecting rod, a lead screw or a similar structure is not used, the mounting and debugging difficulty and the cost are greatly reduced, and the wharf sweeping head with the conventional structure is successfully avoided.

Drawings

Various objects, features and advantages of the present disclosure will become more apparent from the following detailed description of preferred embodiments thereof, when considered in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:

FIG. 1 is a perspective view of a lifting device shown mounted to an AGV according to an exemplary embodiment;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a cross-sectional view of FIG. 2 taken along line A-A;

FIG. 4 is an enlarged view of portion B of FIG. 3;

FIG. 5 is a perspective view of a lifting link of the lifting device shown in FIG. 1;

FIG. 6 is a plan view of a lifting link of the lifting device shown in FIG. 1;

FIG. 7 is a perspective view of a turntable of the lifting device shown in FIG. 1;

FIG. 8 is a perspective view of a lift drive mechanism of the lift device shown in FIG. 1;

FIG. 9 is a perspective view of a rotary drive mechanism of the lifting device shown in FIG. 1;

FIG. 10 is a perspective view of the floor of the AGV shown in FIG. 1;

FIG. 11 is an elevator plate of the AGV shown in FIG. 1.

The reference numerals are explained below:

100. a base plate;

110. a rotating shaft;

120. a horizontal slide rail;

130. a first vertical plate;

131. a guide rail;

200. a lifting plate;

210. a second vertical plate;

211. a guide block;

310. a lifting connecting rod;

311. a lower hinged support;

3111. a follower wheel;

312. an upper hinged support;

320. a turntable;

321. opening a hole;

322. a shaft hole;

323. a first tooth;

3211. contacting the walls of the hole;

330. a lifting drive mechanism;

331. a first drive motor;

332. a first drive gear;

333. a first speed reducer;

334. a first drive connection assembly;

340. a bearing;

341. an inner ring;

342. an outer ring;

343. an inner ring gland bush;

344. an outer ring gland bush;

350. a rotating support plate;

351. a second tooth;

360. a rotation driving mechanism;

361. a second drive motor;

362. a second transmission gear;

363. a second speed reducer;

364. a second drive connection assembly;

365. mounting a plate;

366. and (4) a support column.

Detailed Description

Exemplary embodiments that embody features and advantages of the present disclosure are described in detail below in the specification. It is to be understood that the disclosure is capable of various modifications in various embodiments without departing from the scope of the disclosure, and that the description and drawings are to be regarded as illustrative in nature, and not as restrictive.

In the following description of various exemplary embodiments of the disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary structures, systems, and steps in which aspects of the disclosure may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be utilized, and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, although the terms "over," "between," "within," and the like may be used in this specification to describe various example features and elements of the disclosure, these terms are used herein for convenience only, e.g., in accordance with the orientation of the examples described in the figures. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of this disclosure.

Lifting device embodiment

Referring to FIG. 1, a perspective view of the lifting device of the present disclosure mounted to an AGV cart is representatively illustrated. In the exemplary embodiment, the lifting device provided by the present disclosure is illustrated as applied to an AGV cart. Those skilled in the art will readily appreciate that many modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to utilize the teachings of the present disclosure in other types of ambulation or transportation equipment, and such changes are within the scope of the lifting device principles set forth in this disclosure.

As shown in fig. 1, in the present embodiment, the lifting device proposed in the present disclosure can be installed between a fixed module and a lifting module, and the lifting module can be arranged on the fixed module in a lifting manner. Taking an AGV car as an example, the lifting module may be a bottom plate 100 of the AGV car, and the lifting module may be a lifting plate 200 of the AGV car. In other embodiments, when the lifting device is applied to other types of traveling mechanisms or transportation equipment, the fixed module and the lifting module can also be understood as other structures capable of lifting relative to the mechanism or the equipment, respectively. The lifting device includes a lifting link 310, a turntable 320, and a lifting driving mechanism 330. Referring additionally to fig. 2-8, fig. 2 representatively illustrates a front view of fig. 1; representatively illustrated in fig. 3 is a cross-sectional view taken along line a-a of fig. 2; fig. 4 representatively illustrates an enlarged view of portion B of fig. 3; a perspective view of the lift link 310 is representatively illustrated in fig. 5; a plan view of the lift link 310 is representatively illustrated in fig. 6; a perspective view of the turntable 320 is representatively illustrated in fig. 7; fig. 8 representatively illustrates a perspective view of the lift drive mechanism 330. The following describes the structure, connection mode and functional relationship of the main components of the lifting device proposed by the present disclosure in detail with reference to the above drawings.

As shown in fig. 1 to 3, in the present embodiment, the lifting link 310 is disposed to be inclined with respect to the fixed module, a lower end of the lifting link 310 is rotatably and slidably coupled to the base plate 100 (the fixed module), and an upper end of the lifting link 310 is rotatably coupled to the lifting plate 200 (the lifting module). The turntable 320 is rotatably disposed between the base plate 100 and the lifting module, the turntable 320 is provided with an opening 321 through which the lifting link 310 passes, the opening 321 can contact with the lower end of the lifting link 310 by using a side hole wall as a contact hole wall 3211, and an orthographic projection of the contact hole wall 3211 on the turntable 320 is in the shape of an archimedean spiral. The lifting driving mechanism 330 is drivingly connected to the turntable 320 and is used for driving the turntable 320 to rotate. Through the above design, the lifting device provided by the present disclosure can make the lower end of the lifting link 310 slide on the base plate 100 by rotating the rotary disc 320, so that the lifting link 310 drives the lifting plate 200 to lift relative to the base plate 100. Accordingly, the present disclosure utilizes the turntable 320 and the lifting link 310 to achieve the lifting action without using a lead screw or similar structure, thereby greatly reducing the difficulty and cost of installation and debugging, and successfully avoiding the wharf sweeping head with the existing structure.

As shown in fig. 2 to 3 and 5 to 6, in the present embodiment, a lower hinge seat 311 is rotatably connected to a lower end of the lifting link 310, and the lower hinge seat 311 is slidably disposed on the base plate 100, so that the lower end of the lifting link 310 is slidably and rotatably connected to the base plate 100 through the lower hinge seat 311. Specifically, the lower end of the lifting link 310 and the lower hinge base 311 may be hinged by a hinge shaft, and an oilless bushing may be sleeved on the hinge shaft, and the oilless bushing may provide a bearing-like function. In other embodiments, the lower end of the lifting link 310 may be rotatably and slidably connected to the base plate 100 by other structures, which is not limited to this embodiment.

Further, as shown in fig. 2 and 3, based on the design that the lower hinge holder 311 is slidably disposed on the base plate 100, in the present embodiment, the base plate 100 may preferably be provided with the horizontal slide rail 120, and the lower hinge holder 311 is disposed on and slidably engaged with the horizontal slide rail 120.

Further, based on the design of the lower hinge seat 311 slidably fitting with the horizontal sliding rail 120, in the present embodiment, a horizontal slider may be preferably disposed on the horizontal sliding rail 120, the horizontal slider slidably fitting with the horizontal sliding rail 120, and the lower hinge seat 311 is fixed on the horizontal slider.

Further, as shown in fig. 5 and 6, based on the design that the lower end of the lifting link 310 is rotatably and slidably disposed on the bottom plate 100 through the lower hinge seat 311, in the present embodiment, a follower wheel 3111 may be preferably disposed on the lower hinge seat 311, the follower wheel 3111 is located between the lower end of the lifting link 310 and the contact hole wall 3211 of the opening 321, and the contact hole wall 3211 abuts against the follower wheel 3111, so as to realize indirect pushing of the lower end of the lifting link 310 by the contact hole wall 3211.

As shown in fig. 2 to 3 and 5 to 6, in the present embodiment, an upper hinge base 312 is rotatably connected to an upper end of the lifting link 310, and the upper hinge base 312 is fixed to the lifting plate 200, so that the upper end of the lifting link 310 is rotatably connected to the lifting plate 200 through the upper hinge base 312. Specifically, the upper end of the lifting link 310 and the upper hinge base 312 may be hinged by a hinge shaft, and an oilless bushing may be sleeved on the hinge shaft. In other embodiments, the upper end of the lifting link 310 may be rotatably connected to the lifting plate 200 by other structures, and the embodiment is not limited thereto.

As shown in fig. 1, 3 and 7, in the present embodiment, the lifting means may preferably include two lifting links 310. Specifically, the two lifting links 310 are substantially symmetrically distributed around the center of the turntable 320. Correspondingly, the turntable 320 is provided with two openings, through which the two lifting connecting rods 310 respectively penetrate and which are respectively matched with the lower ends of the two lifting connecting rods 310, and the two openings 321 are arranged in a central symmetry manner around the center of the turntable 320. Accordingly, through the arrangement of the two lifting connecting rods 310, the lifting device provided by the present disclosure lifts the lifting plate 200 together through the two lifting connecting rods 310, further improving the stability of the lifting process, and simultaneously increasing the lifting weight of the equipment such as an AGV cart.

Further, as shown in fig. 3, based on the design that the lifting device includes two lifting links 310, in the present embodiment, the two lifting links 310 may preferably be designed such that the orthographic projection of each lifting link 310 on the turntable 320 extends in the radial direction of the turntable 320, and the orthographic projection of the lower end of each lifting link 310 on the turntable 320 relative to the sliding path of the base plate 100 extends in the radial direction of the turntable 320.

Further, as shown in fig. 3, in the present embodiment, an orthogonal projection of an upper end of each lifting link 310 on the turntable 320 is closer to a center of the turntable 320 than an orthogonal projection of a lower end of each lifting link 310 on the turntable 320.

Further, in the present embodiment, the orthographic projection of each lifting link 310 on the turntable 320 may preferably extend along the radial direction of the turntable 320, and the orthographic projections of the two lifting links 310 on the turntable 320 may preferably be collinear.

Further, as shown in fig. 7, based on the design that the lifting device includes two lifting links 310 and the turntable 320 is correspondingly provided with two openings 321, in the present embodiment, the shapes of the two openings 321 may preferably be the same, and the two openings 321 are distributed in central symmetry with respect to the center of the turntable 320.

It should be noted that, in other embodiments, the lifting device proposed by the present disclosure may include a plurality of lifting links 310 (i.e., more than two), and on this basis, the lifting links 310 may be preferably arranged in an evenly distributed manner in the circumferential direction of the turntable 320. Correspondingly, the turntable 320 may be provided with a plurality of openings 321, which are respectively engaged with the plurality of lifting links 310. In addition, the lifting device proposed by the present disclosure may include only one lifting link 310.

As shown in fig. 7, in the present embodiment, the turntable 320 has a circular disk-shaped structure, the opening 321 formed in the turntable 320 is an irregular hole, and one hole wall of the opening 321 is a contact hole wall 3211 and contacts the lower end of the lifting link 310. Specifically, the opening 321 may be substantially a sector-shaped opening, and a wall of the sector-shaped opening 321 on a side close to the outer periphery of the turntable 320 is in an archimedean spiral (also called a constant velocity spiral) shape, that is, a track generated by a point moving away from a fixed point at a constant speed and simultaneously rotating around the fixed point at a constant angular speed. The above design of the contact hole wall 3211 of the opening 321 adopts the archimedes spiral form to make the distance from each point on the contact hole wall 3211 to the center of the rotating disc 320 change at a constant speed under the condition that the rotating disc 320 rotates at a constant speed, so as to ensure that the lifting and lowering speeds of the lifting connecting rod 310 are kept uniform.

As shown in fig. 4 and 7, in the present embodiment, a shaft hole 322 is formed at a center position of the turntable 320, the rotating shaft 110 protrudes upward from the bottom plate 100, and at least a portion of the rotating shaft 110 is inserted into the shaft hole 322. On this basis, the turntable 320 may be rotatably provided to the base plate 100, preferably by a bearing 340. Wherein, the outer ring 342 of the bearing 340 may be fixed with the turntable 320, and the inner ring 341 of the bearing 340 may be fixed with the rotating shaft 110.

Further, as shown in fig. 4, based on the design that the turntable 320 is rotatably connected with the base plate 100 through the bearing 340, in the present embodiment, the outer ring 342 of the bearing 340 may be fixed at the bottom of the turntable 320, that is, at a position adjacent to the shaft hole 322 at the bottom of the turntable 320, preferably through the outer ring gland 344. Similarly, the inner race 341 of the bearing 340 may be preferably fixed to the top of the rotation shaft 110, i.e., the outer circumference of the top of the rotation shaft 110, by an inner race gland 343.

Further, based on the design that the turntable 320 is rotatably connected with the bottom plate 100 through the bearing 340, in the present embodiment, the bearing 340 may be preferably selected as a deep groove ball bearing.

As shown in fig. 1 and 7, in the present embodiment, the outer circumference of the dial 320 is provided with first teeth 323. On the basis, the lifting driving mechanism 330 mainly includes a first driving motor 331 and a first transmission gear 332. Specifically, the first driving motor 331 is disposed between the lifting plate 200 and the turntable 320. The first transmission gear 332 is drivingly connected to the first driving motor 331 and engaged with the first teeth 323 on the outer periphery of the rotary plate 320. Accordingly, the lifting driving mechanism 330 can drive the first transmission gear 332 to rotate by the first driving motor 331, and drive the turntable 320 to rotate by the first transmission gear 332. When the rotating disc 320 rotates, the two openings 321 are pushed against the lower ends of the corresponding lifting links 310 by the respective contact hole walls 3211, so that the lower ends of the two lifting links 310 move toward each other, and the lifting plate 200 is lifted by the lifting links 310.

Further, as shown in fig. 8, based on the design that the lifting driving mechanism 330 includes the first driving motor 331 and the first transmission gear 332, in the present embodiment, the lifting driving mechanism 330 may further preferably include a first speed reducer 333 and a first transmission connection assembly 334. Specifically, the first speed reducer 333 is disposed at an output end of the first driving motor 331 and is in transmission connection with the first driving motor 331, and the first transmission connection assembly 334 is in transmission connection between the output end of the first speed reducer 333 and the first transmission gear 332, so as to transmit the transmission torque output by the first speed reducer 333 to the first transmission gear 332.

It should be noted herein that the lifting devices illustrated in the figures and described in the present specification are but a few examples of the wide variety of lifting devices that can employ the principles of the present disclosure. It should be clearly understood that the principles of the present disclosure are in no way limited to any of the details of the lifting device or any of the components of the lifting device shown in the drawings or described in this specification.

AGV Car implementation

Referring to FIG. 1, there is representatively illustrated a perspective view of an AGV car in accordance with the present disclosure with a lifting device in accordance with the present disclosure installed. In the exemplary embodiment, the AGV carts presented in this disclosure are illustrated as AGV carts used in the field of logistics storage transport. Those skilled in the art will readily appreciate that numerous modifications, additions, substitutions, deletions, or other changes may be made to the specific embodiments described below in order to apply the concepts related to the present disclosure to other areas of AGV carts or other transport equipment, and such changes are within the scope of the AGV cart principles presented in this disclosure.

In this embodiment, the AGV cart provided by this disclosure mainly includes a cart body, a traveling mechanism, and a cargo structure. Referring to fig. 2, 9-11 in combination, fig. 2 representatively illustrates a front view of fig. 1; representatively illustrated in fig. 9 is a perspective view of a rotary drive mechanism 360 of the lifting device illustrated in fig. 1; FIG. 10 representatively illustrates a perspective view of the floor 100 of the AGV cart shown in FIG. 1; representatively illustrated in FIG. 11 is a lift plate 200 of the AGV cart illustrated in FIG. 1. The structure, connection mode and functional relationship of the main components of the AGV cart proposed by the present disclosure will be described in detail below with reference to the above drawings.

As shown in fig. 1 and 2, in the present embodiment, the AGV cart body mainly includes a floor 100 and a lift plate 200. Among them, the lifting plate 200 is provided on the base plate 100 to be liftable and lowerable by the lifting device proposed by the present disclosure and described in detail in the above embodiments. The lifting plate 200 is a lifting module in the above embodiment, and the bottom plate 100 is a fixing module in the above embodiment.

Further, as shown in fig. 1, 2, 10 and 11, in the present embodiment, the bottom plate 100 may preferably be provided with a first upright plate 130, and the first upright plate 130 is provided with a guide rail 131 extending vertically upward. Accordingly, the lifting plate 200 may preferably be provided with a second vertical plate 210, and the second vertical plate 210 is provided with a guide block 211, and the guide block 211 is slidably engaged with the guide rail 131, so as to implement a guiding function for the lifting plate 200 during the lifting process of the lifting device.

Further, as shown in fig. 10 and 11, based on the design that the guide function is achieved by the sliding fit of the guide rail 131 of the first vertical plate 130 and the guide block 211 of the second vertical plate 210 when the lifting plate 200 is lifted relative to the bottom plate 100, in the present embodiment, the bottom plate 100 may be preferably provided with a plurality of first vertical plates 130, the lifting plate 200 may be preferably provided with a plurality of second vertical plates 210, and the plurality of guide rails 131 on the plurality of first vertical plates 130 are respectively slidably fitted with the plurality of guide blocks 211 on the plurality of second vertical plates 210. Accordingly, the guiding function of the lifting plate 200 in the lifting process of the lifting device can be further optimized, and the lifting stability can be further improved.

Further, as shown in fig. 1 and 2, in this embodiment, the AGV cart may also preferably include a swing support plate 350 and a rotary drive mechanism 360. Specifically, the swing support plate 350 is rotatably disposed on the top of the lifting plate 200 (i.e., on the side of the lifting plate 200 away from the base plate 100). The rotation driving mechanism 360 is drivingly connected to the swing support plate 350 and drives the swing support plate 350 to rotate. On this basis, the load carrying structure of the AGV may preferably be provided on the swing support plate 350. Accordingly, the AGV may be able to rotate the pivoting support plate 350 via the rotational drive mechanism 360, allowing the load carrying structure to rotate relative to the lift plate 200 and the floor 100.

Further, as shown in fig. 2 and 9, based on the design of the AGV cart including the swing support plate 350 and the rotation driving mechanism 360, in the present embodiment, the swing support plate 350 may preferably have a substantially ring-shaped structure, and the inner circumference of the swing support plate 350 is provided with the second teeth 351. On this basis, the rotary drive mechanism 360 mainly includes a second drive motor 361 and a second transmission gear 362. Specifically, the second driving motor 361 is provided on the lifting plate 200. The second transmission gear 362 is drivingly connected to the second driving motor 361 and engaged with the second teeth 351 on the inner periphery of the swing support plate 350. Accordingly, the rotation driving mechanism 360 can drive the second transmission gear 362 to rotate by the second driving motor 361, and drive the swing support plate 350 to rotate by the second transmission gear 362. As the pivoting support plate 350 is rotated, it rotates the cargo structure.

Further, as shown in fig. 9, based on the design that the rotation driving mechanism 360 includes a second driving motor 361 and a second transmission gear 362, in the present embodiment, the lifting driving mechanism 330 may further preferably include a second speed reducer 263 and a second transmission connection assembly 364. Specifically, the second speed reducer 263 is disposed at an output end of the second driving motor 361 and is in transmission connection with the second driving motor 361, and the second transmission connection assembly 364 is in transmission connection between the output end of the second speed reducer 263 and the second transmission gear 362 so as to transmit the transmission torque output by the second speed reducer 263 to the second transmission gear 362.

Further, as shown in fig. 9, the elevation driving mechanism 330 may further preferably include a mounting plate 365 and a support column 366 based on the design in which the rotation driving mechanism 360 is provided on the swing support plate 350. Specifically, the mounting plate 365 is disposed on the second drive connection assembly 364 and the support column 366 is connected between the mounting plate 365 and the lift plate 200.

It should be noted herein that the AGV carts shown in the drawings and described in this specification are but a few examples of the many types of AGV carts that can employ the principles of the present disclosure. It should be clearly understood that the principles of the present disclosure are in no way limited to any of the details of the AGV cart or any component of the AGV cart shown in the drawings or described in this specification.

In summary, the lifting device provided by the present disclosure includes a lifting link, a turntable, and a lifting driving mechanism. The lower end of the lifting connecting rod is rotatably and slidably connected to the fixed module, and the upper end of the lifting connecting rod is rotatably connected to the lifting module. The turntable is provided with an opening which can be abutted against the lower end of the lifting connecting rod through a side hole wall. The lifting driving mechanism drives the turntable to rotate, so that the lower end of the lifting connecting rod slides, and the lifting connecting rod drives the lifting module to lift relative to the fixed module. Therefore, the lifting action is realized by utilizing the rotary disc and the lifting connecting rod, a lead screw or a similar structure is not used, the mounting and debugging difficulty and the cost are greatly reduced, and the wharf sweeping head with the conventional structure is successfully avoided.

Exemplary embodiments of the lifting device and AGV with the device set forth in this disclosure are described and/or illustrated in detail above. Embodiments of the disclosure are not limited to the specific embodiments described herein, but rather, components and/or steps of each embodiment may be utilized independently and separately from other components and/or steps described herein. Each component and/or step of one embodiment can also be used in combination with other components and/or steps of other embodiments. When introducing elements/components/etc. described and/or illustrated herein, the articles "a," "an," and "the" are intended to mean that there are one or more of the elements/components/etc. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc. Furthermore, the terms "first" and "second" and the like in the claims and the description are used merely as labels, and are not numerical limitations of their objects.

While the lifting device and AGV with the device set forth in this disclosure have been described in terms of various specific embodiments, those skilled in the art will recognize that the implementation of the disclosure can be practiced with modification within the spirit and scope of the claims.

Claims

1. A lifting device is installed between a fixed module and a lifting module, and is characterized in that the lifting device comprises:

the lifting connecting rod is obliquely arranged relative to the fixed module, the lower end of the lifting connecting rod is rotatably and slidably connected to the fixed module, and the upper end of the lifting connecting rod is rotatably connected to the lifting module;

the rotating disc is rotatably arranged between the fixed module and the lifting module, at least one opening is formed in the rotating disc, the at least one opening is used for allowing the at least one lifting connecting rod to penetrate through, the opening is configured to abut against the lower end of the lifting connecting rod by taking a side hole wall as a contact hole wall, and the orthographic projection of the contact hole wall on the rotating disc is in the shape of an Archimedes spiral; and

the lifting driving mechanism is in transmission connection with the turntable and is configured to drive the turntable to rotate;

wherein the lifting device is configured to make the lower end of the lifting connecting rod slide by rotating the turntable, so that the lifting connecting rod drives the lifting module to lift relative to the fixed module.

2. The lifting apparatus as claimed in claim 1, wherein the fixed module is slidably provided with at least one lower hinge base, and at least one lower end of the lifting link is rotatably connected to at least one lower hinge base, respectively.

3. The lifting device as claimed in claim 2, wherein the fixed module has at least one horizontal slide rail, each horizontal slide rail has a horizontal slide block slidably disposed thereon, and at least one lower hinge base is fixed on at least one horizontal slide block.

4. The lifting device as claimed in claim 2, wherein a follower wheel is provided on each lower hinge base, the follower wheel is located between the lower end of the lifting link and the wall of the contact hole of the opening, and the wall of the contact hole abuts against the follower wheel.

5. The lifting device as claimed in claim 1, wherein the lifting module is fixedly provided with at least one upper hinge base, and the upper ends of at least one lifting link are respectively rotatably connected to the at least one upper hinge base.

6. The lifting device of claim 1, wherein the lifting device comprises a plurality of the lifting links that are evenly distributed in a circumferential direction of the turntable.

7. The lifting device as claimed in claim 1, wherein the lifting device comprises two lifting links, the two lifting links are arranged in a central symmetry manner around a center of the rotary table, and the two openings are arranged in a central symmetry manner around the center of the rotary table.

8. The lifting device as claimed in claim 7, wherein an orthographic projection of each lifting link on the turntable extends in a radial direction of the turntable, and an orthographic projection of a lower end of each lifting link on the turntable with respect to a sliding path of the fixed module extends in a radial direction of the turntable.

9. The lifting device according to claim 8, wherein an orthographic projection of an upper end of each lifting link on the turntable is closer to a center of the turntable than an orthographic projection of a lower end of each lifting link on the turntable.

10. The lifting device according to claim 1, wherein a shaft hole is formed in a center position of the turntable, a rotating shaft is convexly arranged on the fixing module upwards, and at least part of the rotating shaft is arranged in the shaft hole in a penetrating manner; the rotary table is rotatably arranged on the fixed module through a bearing, the outer ring of the bearing is fixed with the rotary table, and the inner ring of the bearing is fixed with the rotary shaft.

11. The lifting device of claim 10, wherein the bearing is a deep groove ball bearing.

12. The lifting device as claimed in claim 1, wherein the turntable is provided at an outer periphery thereof with first teeth, and the lift driving mechanism comprises:

the first driving motor is arranged between the lifting module and the turntable; and

the first transmission gear is in transmission connection with the first driving motor and is meshed with first teeth on the periphery of the rotary table;

wherein the lifting driving mechanism is configured to drive the first transmission gear to rotate through the first driving motor and drive the turntable to rotate through the first transmission gear.

13. An AGV trolley, comprising a trolley body, a traveling mechanism and a cargo carrying structure, wherein the trolley body comprises a bottom plate and a lifting plate, and the lifting plate is arranged on the bottom plate in a lifting way through the lifting device according to any one of claims 1 to 12.

14. The AGV of claim 13, wherein the base includes a first vertical plate having a vertically upwardly extending rail thereon, the elevator plate includes a second vertical plate having a guide block thereon, the guide block being slidably engaged with the rail.

15. The AGV of claim 14, wherein said base includes a plurality of said first uprights, said elevator plate includes a plurality of said second uprights, and a plurality of said guide rails on said first uprights are slidably engaged with a plurality of said guide blocks on said second uprights.

16. The AGV cart of claim 13, further comprising:

the rotary supporting plate is rotatably arranged at the top of the lifting plate; and

a rotary driving mechanism in transmission connection with the rotary supporting plate, wherein the rotary driving mechanism is configured to drive the rotary supporting plate to rotate;

wherein the cargo structure is arranged on the rotary supporting plate;

wherein the AGV trolley is configured to rotate the cargo carrying structure relative to the floor by rotating the swing support plate.

17. The AGV cart of claim 16, wherein the rotatable support plate is an annular structure with second teeth disposed about an inner periphery of the rotatable support plate, the rotary drive mechanism comprising:

the second driving motor is arranged on the lifting plate; and

the second transmission gear is in transmission connection with the second driving motor and is meshed with second teeth on the inner periphery of the rotary supporting plate;

wherein the rotary driving mechanism is configured to drive the second transmission gear to rotate through the second driving motor and drive the slewing supporting plate to rotate through the second transmission gear.