CN112623993A - Lifting mechanism moving from middle to upper and lower ends and AGV trolley - Google Patents

Abstract

The invention discloses a lifting mechanism moving from the middle to the upper and lower ends and an AGV trolley, wherein the lifting mechanism comprises a rack and a rocker lifting unit, the rocker lifting unit comprises a driving mechanism, a rocker mechanism, an upper lifting mechanism and a lower supporting mechanism, the rocker mechanism comprises a first rocker and a second rocker, the head ends of the first rocker and the second rocker are in driving connection by the driving mechanism and rotate reversely, so that the tail end of the first rocker is opened or closed relative to the tail end of the second rocker; the tail end of the first rocker is connected with a lifting mechanism, and the lifting mechanism is pushed to rise upwards or return; the tail end of the second rocker is connected with the lower support mechanism, the lower support mechanism is pushed to descend or return, and the whole rocker lifting unit can lift relative to the rack. The lifting structure can extend out from the middle to the upper end and the lower end, so that the lifting mechanism with low height in a furled state can be lifted to a higher height, and is suitable for being installed on an AGV with an ultra-low vehicle body to enter a space with limited height for loading and unloading operation.

Description

Lifting mechanism moving from middle to upper and lower ends and AGV trolley

Technical Field

The invention relates to the technical field of AGV intelligent carrying trolleys, in particular to a lifting mechanism moving from the middle to the upper end and the lower end and an AGV for intelligently replacing an automobile battery.

Background

Because the AGV has the functions of automatic navigation and intelligent loading and unloading, the AGV is more and more widely applied to the cargo handling process of most factories, warehouses and workshops.

However, when the conventional AGV is used for loading and unloading goods, the lifting mechanism of the conventional AGV only has a one-way lifting function, such as lifting the goods from the bottom upwards and then lowering the goods from the top downwards.

The one-way lifting mechanism needs to have a high height to load and unload cargoes, if the height between the lifting mechanism on the AGV trolley and the cargoes is 30cm, the lifting mechanism needs to upwards extend out 30cm, the lifting mechanism upwards extends out 30cm and upwards extends out 10cm, the height size of the AGV trolley after being folded is different, the lifting mechanism capable of extending out 30cm is higher after being folded, the height of the whole AGV trolley is higher after the lifting mechanism is higher, and therefore the AGV trolley cannot be suitable for being used for loading and unloading operations in a short space with limited height, and if the loading and unloading of batteries are carried out under a chassis of an automobile.

Therefore, the prior art has yet to be improved.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a lifting mechanism moving from the middle to the upper end and the lower end, which aims to enable the lifting structure to extend out from the middle to the upper end and the lower end, enable the lifting mechanism with low height after being folded to lift to a higher height, and is suitable for being installed in the middle of an AGV trolley with an ultra-low body so as to enter a space with limited height for loading and unloading operation.

In order to realize the purpose, the invention adopts the following technical scheme:

a lifting mechanism moving from the middle to the upper end and the lower end, which comprises:

the frame is used for connecting the fixing piece to be fixed on the fixing piece;

the rocker lifting unit comprises a driving mechanism, a rocker mechanism, an upper lifting mechanism and a lower supporting mechanism, wherein the rocker mechanism comprises a first rocker and a second rocker, the head ends of the first rocker and the second rocker are in driving connection and rotate reversely by the driving mechanism, so that the tail end of the first rocker is opened or closed relative to the tail end of the second rocker;

the tail end of the first rocker is connected with a lifting mechanism, and the lifting mechanism is pushed to rise upwards or return;

the tail end of the second rocker is connected with a lower support mechanism, and the lower support mechanism is pushed to fall downwards or return;

one of the tail end of the first rocker, the tail end of the second rocker, the lifting mechanism and the lower support mechanism is connected with the rack in a lifting manner, so that the whole rocker lifting unit can lift relative to the rack.

The lifting mechanism comprises a U-shaped bracket, the lower supporting mechanism and the driving mechanism are positioned on the inner side of the U-shaped bracket, and the rack comprises a left rack and a right rack which are respectively positioned on the left side and the right side outside the U-shaped bracket;

the rocker mechanism also comprises a third rocker and a fourth rocker, wherein the head end of the third rocker is fixedly connected with the first rocker and rotates along with the first rocker, and the head end of the fourth rocker is fixedly connected with the second rocker and rotates along with the second rocker;

the tail end of the first rocker is connected with the right inner side of the U-shaped bracket, the tail end of the second rocker is connected with the right outer side of the lower supporting mechanism, the tail end of the third rocker is connected with the left inner side of the U-shaped bracket, and the tail end of the fourth rocker is connected with the left outer side of the lower supporting mechanism.

The driving mechanism comprises a motor, a driving gear in transmission connection with the motor, a first driven gear meshed with the driving gear, a second driven gear meshed with the first driven gear, a first transmission shaft penetrating through the first driven gear, and a second transmission shaft penetrating through the second driven gear;

one end of the first transmission shaft is fixedly connected with the head end of the first rocker, and the other end of the first transmission shaft is fixedly connected with the head end of the third rocker;

one end of the second transmission shaft is fixedly connected with the head end of the second rocker, and the other end of the second transmission shaft is fixedly connected with the head end of the fourth rocker.

A first pin shaft penetrates between the tail end of the first rocker and the right inner side of the U-shaped bracket, and the first rocker and the right inner side of the U-shaped bracket are rotatably connected with the first pin shaft;

a second pin shaft penetrates between the tail end of the second rocker and the right outer side of the lower support mechanism, and the second rocker and the right outer side of the lower support mechanism are rotatably connected with the second pin shaft;

a third pin shaft penetrates between the tail end of the third rocker and the left inner side of the U-shaped bracket, and the third rocker and the left inner side of the U-shaped bracket are rotatably connected with the third pin shaft;

and a fourth pin shaft penetrates between the tail end of the fourth rocker and the left outer side of the lower supporting mechanism, and the fourth rocker and the left outer side of the lower supporting mechanism are both in rotating connection with the fourth pin shaft.

The first pin shaft penetrates through the right side of the U-shaped bracket and is arranged in the guide groove of the right guide block, which is opposite to the right rack, and the first pin shaft and the right guide pin shaft both slide in the guide groove of the right guide block;

still be provided with left guide block between the left outside of U-shaped bracket and the left frame, the two-sided guide way that all has of left guide block, what be connected between left guide block and the left frame has left guide pin axle, third round pin axle passes the left side of U-shaped bracket and packs into in the guide way that left guide block and left frame are relative, third round pin axle and left guide pin axle all slide in the guide way of left guide block.

The lower supporting mechanism comprises a supporting land block arranged at the lower part, a connecting block arranged at the upper part, and a connecting rod arranged between the supporting land block and the connecting block and used for connecting the supporting land block and the connecting block;

the right end of the connecting block is rotatably connected with the second pin shaft, and the left end of the connecting block is rotatably connected with the fourth pin shaft.

The connecting rod is connected with the connecting block in a floating mode, and a spring and a travel switch are further arranged between the ground supporting block and the connecting block on the lower supporting mechanism.

One or more of the first rocking bar, the second rocking bar, the third rocking bar and the fourth rocking bar is/are also provided with a pressure sensor.

A first scissor fork balancing mechanism and a second scissor fork balancing mechanism which are identical in structure are respectively arranged between the right outer side of the U-shaped bracket and the right rack and between the left outer side of the U-shaped bracket and the left rack;

first scissors fork balance mechanism and second scissors fork balance mechanism all include the centre and rotate the dwang of connecting, and the one end of two dwangs rotates respectively to be connected in U-shaped bracket and frame, and two dwangs link to each other the other end sliding connection respectively in U-shaped bracket and frame.

The invention also provides an AGV trolley for intelligently replacing the automobile battery, which comprises a trolley body, an intelligent control unit, a driving wheel mechanism, the lifting mechanism and a positioning unlocking mechanism, wherein the lifting mechanism moves from the middle to the upper end and the lower end, the positioning unlocking mechanism and the positioning unlocking mechanism are arranged on the trolley body, the intelligent control unit controls the driving wheel mechanism, the positioning unlocking mechanism and the lifting mechanism to move the trolley body, and the positioning, unlocking and lifting of the lifting mechanism are realized.

According to the lifting mechanism moving from the middle to the upper end and the lower end, the rocker mechanism is arranged on the rack, the first rocker and the second rocker of the rocker mechanism rotate reversely to open or close, the opening action drives the lifting mechanism and the lower supporting mechanism to respectively lift upwards and fall downwards from the middle, the lifting mechanism lifts upwards for supporting cargoes, and the falling mechanism supports on the ground. The lifting mechanism can be linked to extend out of the upper end and the lower end, so that the lifting mechanism can be made lower, but can lift to a higher height.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a first embodiment of a lifting mechanism of the present invention, which moves from the middle to the upper and lower ends;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is an exploded view of the structure of FIG. 1;

FIG. 4 is a schematic view of an initial state of the lifting mechanism of the present invention;

FIG. 5 is a schematic view of the lifting mechanism of the present invention ascending to the highest position;

FIG. 6 is a schematic view of the lifting mechanism of the present invention with the frame being raised;

FIG. 7 is a partial schematic view of the structure of FIG. 3;

FIG. 8 is a schematic structural diagram of a lower support mechanism in the lifting mechanism of the present invention;

FIG. 9 is an exploded view of the structure of FIG. 8;

FIG. 10 is a schematic view of the lifting mechanism of the present invention being raised to an intermediate position;

FIG. 11 is a schematic diagram of an AGV configuration according to the present invention;

FIG. 12 is a bottom view structural schematic diagram of the structure of FIG. 11;

fig. 13 is a schematic view of the structure of fig. 11 with the panel removed and the internal structure removed.

Description of reference numerals:

100-lifting mechanism, 1-frame, 11-left frame, 111-second chute, 12-left frame, 121-fourth chute, 2-rocker lifting unit, 3-driving mechanism, 31-motor, 32-driving gear, 33-first driven gear, 34-second driven gear, 35-first transmission shaft, 36-second transmission shaft, 37-driving seat, 4-rocker mechanism, 41-first rocker, 42-second rocker, 43-third rocker, 44-fourth rocker, 45-limit switch, 5-lifting mechanism, 51-U-shaped bracket, 511-first chute, 512-third chute, 6-lower supporting mechanism, 61-ground supporting block, 62-connecting block, 63-connecting rod, 64-spring, 65-travel switch, 71-first pin shaft, 72-second pin shaft, 73-third pin shaft, 74-fourth pin shaft, 75-right guide block, 76-right guide pin shaft, 77-left guide block, 78-left guide pin shaft, 8 a-first scissor fork balance mechanism, 8 b-second scissor fork balance mechanism, 81, 82-rotating rod, 200-vehicle body, 300-intelligent control unit, 400-driving wheel mechanism, 500-positioning unlocking mechanism and 600-AGV.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "connected" may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Referring to fig. 1 to 3, the present invention provides a lifting mechanism 100 moving from the middle to the upper and lower ends, comprising: and the frame 1 is used for connecting the fixing piece to be fixed on the fixing piece. The mount may be a body on the AGV cart so that when the frame 1 is secured to the body on the AGV cart, the entire lifting structure 100 is also mounted on the AGV cart.

The lifting mechanism 100 further comprises a rocker lifting unit 2, the rocker lifting unit 2 comprises a driving mechanism 3, a rocker mechanism 4, an upper lifting mechanism 5 and a lower supporting mechanism 6, the rocker mechanism comprises 4 a first rocker 41 and a second rocker 42, and the head ends of the first rocker 41 and the second rocker 42 are driven by the driving mechanism 3 to be connected and rotate reversely, so that the tail end of the first rocker 41 is opened or closed relative to the tail end of the second rocker 42. The driving mechanism 3 can be an electric motor or a hydraulic or pneumatic drive and is connected with the first rocker 41 and the second rocker 42 by a transmission structure. The transmission mechanism can be a gear set transmission or a hydraulic rod transmission and the like.

The end of the first rocker 41 is connected with the lifting mechanism 5, and pushes the lifting mechanism 5 to rise or return upwards.

The tail end of the second rocker 42 is connected with the lower support mechanism 6, and pushes the lower support mechanism 6 to descend or return downwards.

One of the tail end of the first rocker 41, the tail end of the second rocker 41, the lifting mechanism 5 and the lower support mechanism 6 is connected with the rack 1 in a lifting way, so that the whole rocker lifting unit 2 can lift relative to the rack 1, the whole rocker lifting unit 2 is not only provided with the first rocker 41 and the lifting mechanism 5, but also provided with the second rocker 42 and the lower support mechanism 6 in a lifting way, the driving mechanism 3 is also lifted, the driving mechanism 3 floats along with the first rocker, and therefore, relative to the fixed structural design of the driving mechanism 3, the lower support mechanism 6 and the driving mechanism 3 can be unfolded to the maximum height.

In the embodiment of the present invention, the end of the first rocker 41 is connected to the frame 1 in a lifting manner. The lifting mechanism 5 is used for extending upwards to lift the goods, and the lower supporting mechanism 6 is used for extending downwards to support the goods on the ground.

When the driving mechanism 3 acts, the first rocker 41 and the second rocker 42 are driven to rotate in opposite directions, so that the first rocker 41 and the second rocker 42 respectively drive the lifting mechanism 5 and the lower support mechanism 6 to move in opposite directions, and if the lifting mechanism 5 moves upwards and the lower support mechanism 6 moves downwards, the whole lifting mechanism 100 is opened; and the lifting structure 5 moves downwards and simultaneously the lower support mechanism 6 moves upwards, so that the whole lifting mechanism 100 is folded. Compared with the one-way lifting function in the prior art, the lifting mechanism 100 can realize the function of higher lifting height on the premise of a smaller-size structure, can be applied to an AGV trolley with an ultra-low vehicle body, and is suitable for loading and unloading operation in a space with limited height.

The frame 1 of the present invention includes a left frame 12 and a right frame 11 respectively located at the left and right sides outside the lifting mechanism 5.

As shown in fig. 4 to 6, the left frame 12 and the right frame 11 are respectively fixed on the body of the AGV, and in the initial state, the first rocking bar 41 and the second rocking bar 42 are in the aftertaste folded state, and the lifting mechanism 5 is in the lowest position, as shown in fig. 4. Then the driving mechanism 3 is operated to drive the first rocking bar 41 and the second rocking bar 42 to rotate in opposite directions, so that the two bars of the first rocking bar 41 and the second rocking bar 42 are gradually opened, and the angle is gradually increased. Due to gravity, the second rocking bar 42 rotates downwards, the driving mechanism 3 also rotates downwards, so that the lower supporting mechanism 6 firstly descends to touch the ground, and then due to the reverse thrust after the touch of the ground, the driving mechanism 3 also rotates upwards and raises until the lifting mechanism 5 is lifted to the highest position, as shown in the state of fig. 5.

If the lifting height is not enough, the driving mechanism 3 continues to work to drive the second rocker 42 to continue to rotate downwards, the lower supporting mechanism 6 descends the right rack 11 to jack up under the action of the ground reaction force, so that the AGV trolley body fixedly connected with the right rack 11 is jacked away from the ground, and the lifting with the maximum height of the lifting structure is realized, as shown in FIG. 6.

As can be seen from the fully opened state shown in fig. 6 after being folded in fig. 4, the lifting mechanism of the present invention extends from the middle to the upper and lower ends, so that compared with the lifting mechanism in the single lifting direction in the prior art, for example, the lifting mechanism needs to extend upwards from the position of the lower end 0 by 20cm when the lifting mechanism is lifted by 20cm, the lifting mechanism of the present invention needs to be lifted by 20cm, and only the lifting mechanism extends up and down by 10cm at the middle position, the structure extending 20cm in one direction occupies a larger space and a higher height than the structure extending 10cm up and down, so the lifting mechanism in the prior art is not suitable for the ultra-low AGV cart, because the lifting mechanism is higher than the AGV cart by itself and is not suitable for the operation of replacing the battery under the space with a limited height, such as the chassis of the household electric car. The invention is particularly suitable for being used on an AGV with an ultra-low vehicle body to carry out operation in a space with limited height.

Specifically, as shown in fig. 2 and 3, the lifting mechanism 5 of the present invention includes a U-shaped bracket 51, the lower supporting mechanism 6 and the driving mechanism 3 are located inside the U-shaped bracket 51, and the frame 1 includes a left frame 12 and a right frame 11 respectively located at left and right sides outside the U-shaped bracket 51. The arms on both sides of the U-shaped bracket 51 are connected to the left and right frames to allow the entire mechanism to be stressed on both sides and stable. Meanwhile, the lower support mechanism 6 is positioned at the inner side of the U-shaped bracket 51, so that the lower support mechanism 6 and the U-shaped bracket 51 do not interfere with each other when ascending and descending reversely.

The rocker mechanism 4 further comprises a third rocker 43 having a head end fixedly connected to the first rocker 41 and rotating with the first rocker 41, and a fourth rocker 44 having a head end fixedly connected to the second rocker 42 and rotating with the second rocker 42. The tail end of the first rocker 41 is connected with the right inner side of the U-shaped bracket 51, the tail end of the second rocker 42 is connected with the right outer side of the lower support mechanism 6, the tail end of the third rocker 43 is connected with the left inner side of the U-shaped bracket 51, and the tail end of the fourth rocker 44 is connected with the left outer side of the lower support mechanism 6.

Thus, the first rocking bar 41 and the third rocking bar 43 form a group and act on two sides of the U-shaped bracket 51 at the same time, the second rocking bar 42 and the fourth rocking bar 44 form a group and act on two sides of the lower supporting mechanism 6 at the same time, so that the acting forces on two sides of the whole lifting structure are balanced, and the structure is more stable.

As shown in fig. 3 and 7, the driving mechanism 3 of the present invention includes a motor 31, a driving gear 32 in transmission connection with the motor 31, a first driven gear 33 engaged with the driving gear 32, a second driven gear 34 engaged with the first driven gear 33, a first transmission shaft 35 inserted into the first driven gear 33, and a second transmission shaft 36 inserted into the second driven gear 34. Preferably, the driving mechanism 3 further comprises a driving seat 37 for mounting the motor 31, the driving gear 32, the first driven gear 33, the second driven gear 34, the first transmission shaft 35 and the second transmission shaft 36.

One end of the first transmission shaft 35 is fixedly connected with the head end of the first rocking bar 41, and the other end is fixedly connected with the head end of the third rocking bar 43; one end of the second transmission shaft 36 is fixedly connected with the head end of the second rocking bar 42, and the other end is fixedly connected with the head end of the fourth rocking bar 44.

The motor 31 drives the driving gear 32 to rotate, the driving gear 32 drives the first driven gear 33 to rotate, and the first driven gear 33 drives the second driven gear 34 to rotate reversely. When the first driven gear 33 rotates, the first transmission shaft 35 is driven to rotate, and the first transmission shaft 35 rotates to enable the first rocker 41 and the third rocker 43 at the two ends to rotate; when the second driven gear 34 rotates, the second transmission shaft 36 is driven to rotate, and the second transmission shaft 36 rotates to rotate the second rocker 42 and the fourth rocker 44 at the two ends.

As shown in fig. 7, a first pin 71 is disposed between the end of the first rocker 41 and the right inner side of the U-shaped bracket 51, and the first rocker 41 and the right inner side of the U-shaped bracket 51 are both rotatably connected to the first pin 71. A second pin shaft 72 penetrates through the position between the tail end of the second rocker 42 and the right outer side of the lower supporting mechanism 6, and the second rocker 42 and the right outer side of the lower supporting mechanism 6 are rotatably connected with the second pin shaft 72. A third pin shaft 73 penetrates between the tail end of the third rocker 43 and the left inner side of the U-shaped bracket 51, and the third rocker 43 and the left inner side of the U-shaped bracket 51 are rotatably connected with the third pin shaft 73. A fourth pin 74 penetrates between the tail end of the fourth rocker 44 and the left outer side of the lower supporting mechanism 6, and the fourth rocker 44 and the left outer side of the lower supporting mechanism 6 are rotatably connected with the fourth pin 74. The first pin 71 and the third pin 73 enable the rocker mechanism 4 to support the U-shaped bracket 51 and to rotate relative to each other. The second pin 72 and the fourth pin 74 enable the rocker mechanism 4 to be connected with the lower support mechanism 6 and rotate relatively.

Further, a right guide block 75 is further arranged between the right outer side of the U-shaped bracket 51 and the right frame 11, guide grooves are formed in both sides of the right guide block 75, a right guide pin shaft 76 is connected between the right guide block 75 and the right frame 11, the first pin shaft 71 penetrates through the right side of the U-shaped bracket 51 and is installed in the guide groove of the right guide block 75 opposite to the right frame 11, and the first pin shaft 71 and the right guide pin shaft 76 both slide in the guide groove of the right guide block 75.

Still be provided with left guide block 77 between the left outside of U-shaped bracket 51 and left frame 12, the two-sided guide way that all has of left guide block 77, be connected between left guide block 77 and the left frame 12 have left guide pin axle 78, third round pin axle 73 passes the left side of U-shaped bracket 51 and installs in the guide way that left guide block 77 and left frame 12 are relative, and third round pin axle 73 and left guide pin axle 78 all slide in the guide way of left guide block 77.

The right guide block 75 and the left guide block 77 are arranged to guide the lifting motion between the U-shaped bracket 51 and the left and right frames, and meanwhile, the right guide block 75, the left guide block 77, the U-shaped bracket 51 and the left and right frames can rotate relatively, so that the lifting motion is not interfered.

As shown in fig. 8 and 9, the lower support mechanism 6 of the present invention includes a support block 61 disposed at a lower portion, a connection block 62 disposed at an upper portion, and a connection rod 63 disposed between the support block 61 and the connection block 62 and connecting the support block 61 and the connection block 62, wherein a right end of the connection block 62 is rotatably connected to a second pin 72, and a left end of the connection block 62 is rotatably connected to a fourth pin 74. The supporting block 61 is used for supporting on the ground, and the connecting block 62 is rotatably connected with the second rocking bar 42 and the fourth rocking bar 44. The connecting rod 63 is arranged to movably connect the support block 61 and the connecting block 62, and a pressure sensing device or a travel switch can be assembled.

Furthermore, the connecting rod 63 is connected with the connecting block 62 in a floating manner, the spring 64 and the travel switch 65 are further arranged between the ground supporting block 61 and the connecting block 62 on the lower supporting mechanism 6, and the lifting travel of the lower supporting mechanism 6 can be limited by the spring 64, the travel switch 65 and the floating connection manner, so that the whole lifting mechanism 100 is prevented from being damaged due to destructive lifting.

Preferably, one or more of the first rocker 41, the second rocker 42, the third rocker 43 and the fourth rocker 44 of the present invention is further provided with a pressure sensor (not shown), so that the first rocker 41, the second rocker 42, the third rocker 43 and the fourth rocker 44 are protected from being forced to exceed a set value during the lifting process, and the rockers are protected.

Preferably, as shown in fig. 3, a limit switch 45 is further disposed between the third rocker 41 and the fourth rocker 42; the limit switch 45 prevents the first rocking bar 41 and the second rocking bar 42 from being folded and prevents the third rocking bar 41 and the fourth rocking bar 42 from being folded in a transition way. It is understood that a limit switch may be disposed between the first rocker 41 and the second rocker 42.

With continued reference to fig. 3 and 10, preferably, a first scissor balance mechanism 8a and a second scissor balance mechanism 8b with the same structure are respectively disposed between the right outer side of the U-shaped bracket 51 and the right frame 11, and between the left outer side of the U-shaped bracket 51 and the left frame 12. The first scissor fork balance mechanism 8a and the second scissor fork balance mechanism 8b are also opened or folded when the lifting mechanism 5 and the frame 1 move relatively, and are used for supporting the lifting mechanism 5, so that the lifting mechanism 100 is more balanced and stable in the movement process.

Specifically, the first scissor fork balancing mechanism 8a and the second scissor fork balancing mechanism 8b each include a rotating rod 81,82 rotatably connected to the middle, one end of each of the two rotating rods 81,82 is rotatably connected to the U-shaped bracket 51 and the frame 1, and the other end of each of the two rotating rods 81,82 is slidably connected to the U-shaped bracket 51 and the frame 1. As shown in fig. 10, the right outer side of the U-shaped bracket 51 is provided with a first slide groove 511, and the inner side of the right frame 12 is provided with a second slide groove 111 slidably connected to the rotating levers 81,82 on the side, respectively; the left outer side of the U-shaped bracket 51 is provided with a third sliding slot 512, and the inner side of the left frame 12 is provided with a fourth sliding slot 121 which is respectively connected with the rotating rods 81 and 82 on the side in a sliding manner.

As shown in fig. 11 to 13, the present invention further provides an AGV cart 600 for intelligently replacing a car battery, which includes a cart body 200, an intelligent control unit 300, a driving wheel mechanism 400, the lifting mechanism 100 moving from the middle to the upper and lower ends, and a positioning unlocking mechanism 500, wherein the lifting mechanism 100 and the positioning unlocking mechanism 500 are disposed on the cart body 200, the intelligent control unit 300 controls the driving wheel mechanism 400, the positioning unlocking mechanism 500, and the lifting mechanism 100 to move the cart body 200, position and unlock the car battery, and lift the lifting mechanism 100. After the AGV trolley 600 approaches the position close to the battery of the electric automobile through intelligent navigation, the positioning unlocking mechanism 500 is further accurately positioned and aligned with the battery, then the AGV trolley is lifted to the bottom of the battery to drag the battery, the battery is completely dropped onto the lifting mechanism 100 after the battery is unlocked through the positioning unlocking mechanism 500, and then the lifting mechanism descends the battery to be transported away. A similar process is repeated for loading the battery.

Electric vehicles are expected to be developed more as an important approach to solve the problems of resource shortage, environmental pollution and the like. And the traditional electric automobile needs to be stopped for charging after power utilization, so that waiting time is consumed. In the battery exchange mode of 'vehicle electricity separation', the battery exchange of the electric vehicle is a great trend in the future. The AGV cart 600 of the present invention may be designed to be a cart for home electric vehicle battery replacement. Because the AGV dolly 600 of this embodiment has adopted foretell lifting mechanism 100 structure, the last lifting mechanism 100 of moving from the centre to upper and lower both ends of AGV dolly 600 can be made very compactly the mechanism, also can satisfy the lifting height requirement, can satisfy simultaneously and rise the functional requirement of higher level and lower level to materials such as battery for the whole automobile body of AGV dolly 600 designs into super low-height, and the especially adapted battery car chassis is the change battery under this kind of high space restriction scene.

According to the lifting mechanism 100 and the AGV trolley 600 which move from the middle to the upper end and the lower end, the rocker mechanism 4 is arranged on the rack 1, the first rocker 41 and the second rocker 42 of the rocker mechanism 4 rotate reversely to be opened or closed, the opening action drives the lifting mechanism 5 and the lower supporting mechanism 6 to respectively lift from the middle upwards and fall downwards, the lifting mechanism lifts upwards for supporting cargoes, and the falling mechanism falls downwards for supporting on the ground. Because the lifting mechanism 100 can extend out towards the upper end and the lower end in a linkage manner, the lifting mechanism 100 can be made lower, but can be lifted to a higher height, when the lifting mechanism 100 is installed on the AGV trolley 600, the AGV trolley 600 can be wholly supported off the ground, and the lifting mechanism is very suitable for lifting the AGV trolley 600 with an ultra-low body in a space with limited height.

The above description is only for clearly illustrating the invention and is not therefore to be considered as limiting the scope of the invention, and all embodiments are not intended to be exhaustive, and all equivalent structural changes made by using the technical solutions of the present invention or other related technical fields directly/indirectly applied under the concept of the present invention are included in the scope of the present invention.

Claims (10)

1. A lifting mechanism moving from the middle to the upper end and the lower end is characterized by comprising:

the frame is used for connecting the fixing piece to be fixed on the fixing piece;

the rocker lifting unit comprises a driving mechanism, a rocker mechanism, an upper lifting mechanism and a lower supporting mechanism, wherein the rocker mechanism comprises a first rocker and a second rocker, the head ends of the first rocker and the second rocker are in driving connection and rotate reversely by the driving mechanism, so that the tail end of the first rocker is opened or closed relative to the tail end of the second rocker;

the tail end of the first rocker is connected with a lifting mechanism, and the lifting mechanism is pushed to rise upwards or return;

the tail end of the second rocker is connected with a lower support mechanism, and the lower support mechanism is pushed to fall downwards or return;

one of the tail end of the first rocker, the tail end of the second rocker, the lifting mechanism and the lower support mechanism is connected with the rack in a lifting manner, so that the whole rocker lifting unit can lift relative to the rack.

2. The lifting mechanism with the middle moving upwards and downwards, according to claim 1, wherein the lifting mechanism comprises a U-shaped bracket, the lower supporting mechanism and the driving mechanism are located inside the U-shaped bracket, and the frame comprises a left frame and a right frame, which are respectively located at the left side and the right side outside the U-shaped bracket;

the rocker mechanism also comprises a third rocker and a fourth rocker, wherein the head end of the third rocker is fixedly connected with the first rocker and rotates along with the first rocker, and the head end of the fourth rocker is fixedly connected with the second rocker and rotates along with the second rocker;

the tail end of the first rocker is connected with the right inner side of the U-shaped bracket, the tail end of the second rocker is connected with the right outer side of the lower supporting mechanism, the tail end of the third rocker is connected with the left inner side of the U-shaped bracket, and the tail end of the fourth rocker is connected with the left outer side of the lower supporting mechanism.

3. The lifting mechanism as claimed in claim 2, wherein the driving mechanism comprises a motor, a driving gear in transmission connection with the motor, a first driven gear engaged with the driving gear, a second driven gear engaged with the first driven gear, a first transmission shaft passing through the first driven gear, and a second transmission shaft passing through the second driven gear;

one end of the first transmission shaft is fixedly connected with the head end of the first rocker, and the other end of the first transmission shaft is fixedly connected with the head end of the third rocker;

one end of the second transmission shaft is fixedly connected with the head end of the second rocker, and the other end of the second transmission shaft is fixedly connected with the head end of the fourth rocker.

4. The lifting mechanism with the middle moving to the upper end and the lower end as claimed in claim 2, wherein a first pin shaft penetrates between the tail end of the first rocker and the right inner side of the U-shaped bracket, and the first rocker and the right inner side of the U-shaped bracket are both rotatably connected with the first pin shaft;

a second pin shaft penetrates between the tail end of the second rocker and the right outer side of the lower support mechanism, and the second rocker and the right outer side of the lower support mechanism are rotatably connected with the second pin shaft;

a third pin shaft penetrates between the tail end of the third rocker and the left inner side of the U-shaped bracket, and the third rocker and the left inner side of the U-shaped bracket are rotatably connected with the third pin shaft;

and a fourth pin shaft penetrates between the tail end of the fourth rocker and the left outer side of the lower supporting mechanism, and the fourth rocker and the left outer side of the lower supporting mechanism are both in rotating connection with the fourth pin shaft.

5. The lifting mechanism with the middle moving upwards and downwards and the two ends moving upwards as claimed in claim 4, wherein a right guide block is further arranged between the right outer side of the U-shaped bracket and the right rack, guide grooves are formed in the two sides of the right guide block, a right guide pin shaft is connected between the right guide block and the right rack, the first pin shaft penetrates through the right side of the U-shaped bracket and is installed in the guide grooves of the right guide block, which are opposite to the right rack, and the first pin shaft and the right guide pin shaft both slide in the guide grooves of the right guide block;

still be provided with left guide block between the left outside of U-shaped bracket and the left frame, the two-sided guide way that all has of left guide block, what be connected between left guide block and the left frame has left guide pin axle, third round pin axle passes the left side of U-shaped bracket and packs into in the guide way that left guide block and left frame are relative, third round pin axle and left guide pin axle all slide in the guide way of left guide block.

6. The lifting mechanism with the middle moving upwards and downwards from the two ends as claimed in claim 4, wherein the lower supporting mechanism comprises a supporting block arranged at the lower part, a connecting block arranged at the upper part, and a connecting rod arranged between the supporting block and the connecting block and connecting the supporting block and the connecting block;

the right end of the connecting block is rotatably connected with the second pin shaft, and the left end of the connecting block is rotatably connected with the fourth pin shaft.

7. The lifting mechanism with the middle moving upwards and downwards as claimed in claim 6, wherein the connecting rod is connected with the connecting block in a floating manner, and a spring and a travel switch are further arranged on the lower supporting mechanism between the ground supporting block and the connecting block.

8. The lifting mechanism with the middle moving upwards and downwards as claimed in claim 2, wherein one or more of the first rocker, the second rocker, the third rocker and the fourth rocker is further provided with a pressure sensor.

9. The lifting mechanism with the middle moving upwards and downwards from the two ends as claimed in claim 2, wherein a first scissor balance mechanism and a second scissor balance mechanism with the same structure are respectively arranged between the right outer side of the U-shaped bracket and the right frame and between the left outer side of the U-shaped bracket and the left frame;

first scissors fork balance mechanism and second scissors fork balance mechanism all include the centre and rotate the dwang of connecting, and the one end of two dwangs rotates respectively to be connected in U-shaped bracket and frame, and two dwangs link to each other the other end sliding connection respectively in U-shaped bracket and frame.

10. An AGV dolly of car battery is changed to intelligence, includes the automobile body, intelligent control unit and drive wheel mechanism, its characterized in that still includes according to any one of claims 1-9 by middle to the lifting mechanism of both ends motion about to and location release mechanism, lifting mechanism, location release mechanism set up on the automobile body, and intelligent control unit control drive wheel mechanism, location release mechanism, lifting mechanism carry out the motion of automobile body, location, the unblock of car battery and lifting mechanism's lift.

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