CN113443579A - Lifting device and carrying equipment - Google Patents

Lifting device and carrying equipment Download PDF

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Publication number
CN113443579A
CN113443579A CN202010753678.2A CN202010753678A CN113443579A CN 113443579 A CN113443579 A CN 113443579A CN 202010753678 A CN202010753678 A CN 202010753678A CN 113443579 A CN113443579 A CN 113443579A
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CN
China
Prior art keywords
connecting rod
swing arm
lifting device
moving block
group
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Pending
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CN202010753678.2A
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Chinese (zh)
Inventor
刘常伦
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Beijing Megvii Technology Co Ltd
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Beijing Megvii Technology Co Ltd
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Publication date
Application filed by Beijing Megvii Technology Co Ltd filed Critical Beijing Megvii Technology Co Ltd
Priority to CN202010753678.2A priority Critical patent/CN113443579A/en
Publication of CN113443579A publication Critical patent/CN113443579A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, 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
    • B66F7/00Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/065Scissor linkages, i.e. X-configuration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, 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
    • B66F7/00Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28Constructional 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)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The present disclosure provides a lifting device and a handling apparatus. The lifting device comprises: the linkage mechanism comprises a linkage group and a driving mechanism, wherein the linkage group comprises a connecting rod and a connecting rod, and the connecting rod form a parallelogram linkage mechanism; the drive mechanism includes: the moving block is connected with the connecting rod group; the driving motor can drive the moving block to move up and down so as to enable the connecting rod group to swing. According to the lifting device, the moving block of the driving mechanism moves up and down to drive the connecting rod set to swing, so that the bearing device rises or falls, the projection area on the horizontal plane is reduced, and the occupied space of the carrying equipment can be reduced.

Description

Lifting device and carrying equipment
Technical Field
The present invention relates generally to the field of transportation, and more particularly, to a lifting device and a transportation apparatus.
Background
With the continuous progress of technology, handling equipment, such as Automated Guided Vehicles (AGVs), has become widely used and applied in factories, e-commerce warehouses, workshop goods and material handling processes. Furthermore, the AGV tends to be miniaturized to adapt to a narrow and complex working environment.
The AGV has an important function of lifting, and goods to be carried are lifted to a specified height by installing a lifting mechanism on a chassis of the AGV.
An AGV lifting mechanism in the related technology has the defects of complex structure, unstable lifting process, large occupied space and the like.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention provides a lifting device and a carrying apparatus.
According to a first aspect of the present disclosure, there is provided a lifting device, wherein the lifting device comprises: linkage and actuating mechanism, wherein: the connecting rod group comprises connecting rods and connecting rods, and the connecting rods form a parallelogram connecting rod mechanism; the drive mechanism includes: the moving block is connected with the connecting rod group; the driving motor is vertically arranged and can drive the moving block to move up and down so as to enable the connecting rod set to swing.
In some embodiments, the drive mechanism further comprises: the lead screw is in threaded connection with the moving block; the driving motor drives the lead screw to rotate and drives the moving block to move up and down.
In some embodiments, the drive mechanism further comprises: the gear is connected with an output shaft of the driving motor; the rack is fixedly connected with the moving block; the gear is meshed with the rack.
In some embodiments, the first sub-linkage and the second sub-linkage, the connecting rod comprises an upper connecting rod and a lower connecting rod, wherein the upper end of the first sub-linkage is hinged with the upper connecting rod, and the lower end of the first sub-linkage is hinged with the lower connecting rod, so as to form an upper parallelogram linkage; the upper end of the second sub-connecting rod group is hinged with the lower connecting rod, and the lower end of the second sub-connecting rod group is fixedly hinged to form a lower parallelogram connecting rod mechanism.
First sub-linkage in some embodiments, the first sub-linkage includes a first upper swing arm and a second upper swing arm, and the second sub-linkage includes a first lower swing arm and a second lower swing arm; the upper end of the first upper swing arm is hinged with the first end of the upper connecting rod through a first hinge shaft, the lower end of the first upper swing arm is hinged with one end of the lower connecting rod through a second hinge shaft, the upper end of the second upper swing arm is hinged with the second end of the upper connecting rod through a third hinge shaft, and the lower end of the second upper swing arm is hinged with the other end of the lower connecting rod through a fourth hinge shaft; the upper end of the first lower swing arm is hinged with the first upper swing arm and the lower connecting rod through a second hinge shaft, the lower end of the first lower swing arm is fixedly hinged, the upper end of the second lower swing arm is hinged with the second upper swing arm and the lower connecting rod through a fourth hinge shaft, and the lower end of the second lower swing arm is fixedly hinged; the moving block is hinged with the first end of the upper connecting rod and the first upper swing arm through a first hinge shaft.
In one embodiment, the first sub-linkage, the second sub-linkage, the upper linkage and the lower linkage are arranged into two groups to form two groups of upper parallelogram linkage mechanisms which are bilaterally symmetrical and two groups of lower parallelogram linkage mechanisms which are bilaterally symmetrical, the upper connecting rod of the upper parallelogram linkage mechanism of the first group is integrally formed with the upper connecting rod of the upper parallelogram linkage mechanism of the second group, and the second upper swing arm of the upper parallelogram linkage mechanism of the first group is connected with the second upper swing arm of the upper parallelogram linkage mechanism of the second group through a first cross rod; and the second lower swing arm of the lower parallelogram linkage mechanism of the first group is connected with the second lower swing arm of the lower parallelogram linkage mechanism of the second group through a second cross rod.
In some embodiments, the driving motor is vertically disposed outside a projection area of the moving block and the linkage in the vertical direction.
In some embodiments, the driving mechanism further comprises a speed reducer, an output end of the speed reducer is located below the moving block and connected with the lead screw, and an input end of the speed reducer is located below the driving motor and connected with an output shaft of the driving motor.
In some embodiments, the driving mechanism further comprises a fixing seat, the fixing seat comprises a frame body located on two sides of the moving block, a sliding rail is arranged on the inner surface of the frame body, and two sides of the moving block are respectively connected with the sliding rail in a sliding manner.
In some embodiments, at least one end of the frame body is provided with a limiting part.
In some embodiments, the fixed seat further comprises a seat body connected between the two frame bodies, and the seat body is positioned below the moving block; the speed reducer is fixed at the bottom of the seat body; the driving motor is fixed at the front end part of the seat body.
In some embodiments, the lifting device further comprises: and the bearing device is fixed above the connecting rod group and used for directly or indirectly bearing the object to be lifted.
According to another aspect of the present disclosure, there is provided a handling apparatus, wherein the handling apparatus comprises the lifting device according to any one of the embodiments of the first aspect.
In some embodiments, the handling apparatus comprises an automated guided vehicle, a mobile robot.
The utility model provides a lifting device reciprocates through actuating mechanism's movable block, drives the swing of linkage, makes the device that bears rise or descend, has reduced the projection area on the horizontal plane to can reduce the occupation space to haulage equipment, provide more spaces for the arrangement and the installation of other parts, make the installation maintenance more convenient, do benefit to haulage equipment's miniaturization.
Drawings
The above and other objects, features and advantages of embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:
FIG. 1 is a perspective view of a lifting device provided in an embodiment of the present invention;
FIG. 2 is a perspective view of a drive mechanism of a lifting device according to an embodiment of the present invention;
FIG. 3 is a schematic side view of a lifting device provided by an embodiment of the present invention;
FIG. 4 is a schematic top view of a lifting apparatus provided in accordance with an embodiment of the present invention;
FIG. 5 is a simplified diagram illustrating a linkage configuration for a linkage provided by an embodiment of the present invention;
in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.
Detailed Description
The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and to practice the invention, and are not intended to limit the scope of the invention in any way.
It should be noted that although the expressions "first", "second", etc. are used herein to describe different modules, steps, data, etc. of the embodiments of the present invention, the expressions "first", "second", etc. are merely used to distinguish between different modules, steps, data, etc. and do not indicate a particular order or degree of importance. Indeed, the terms "first," "second," and the like are fully interchangeable.
It should be noted that although expressions such as "front", "back", "left", "right", "top", "bottom", "outside", "inside" and the like are used herein to describe different directions or sides of embodiments of the invention, the expressions such as "front", "back", "left", "right", "top", "bottom", "outside", "inside" and the like are merely for distinguishing between different directions or sides, and do not denote a particular outside or inside. Indeed, the terms "front," "back," "left," "right," "top," "bottom," "outer," "inner," and the like may, in some instances, be used interchangeably at all.
An Automatic Guided Vehicle (AGV) is driven by a power device, is equipped with a traveling mechanism, a sensing system, a control system and the like, and automatically arrives at a designated place according to a predetermined path in an unmanned state to complete material handling equipment, so that assembly and transportation efficiency of factories and storage is improved, and labor cost is further reduced.
An important function of an AGV is a lifting function, which lifts an object to be carried from a certain position to a designated height by a lifting device mounted on a chassis. In an application environment of an AGV, the AGV is often operated in a place with limited space, such as a factory or an e-commerce warehouse. Due to the limitation of the working space, the AGV is moving toward miniaturization, which requires the design of the lifting device with the lifting function to be as compact as possible, so as to reduce the occupation of the whole AGV to the maximum extent.
However, the lifting apparatus in the related art includes a carrying device for carrying an object to be lifted, a four-bar linkage mechanism between the carrying device and the chassis to support the carrying device to be raised or lowered, and a driving mechanism to drive the four-bar linkage mechanism. The driving mechanism is located on the outer side of a projection area of the bearing device in the vertical direction, so that the driving mechanism is prevented from interfering with the bearing device, and an avoiding space is provided for the bearing device to ascend or descend.
The driving mechanism comprises a driving motor fixed on the chassis, a speed reducer connected with the driving motor and a crank and rocker mechanism connected to the output end of the speed reducer, a rocker of the crank and rocker mechanism is connected with the four-bar mechanism, the driving motor drives a crank of the crank and rocker mechanism to rotate through the speed reducer to drive the four-bar mechanism consisting of the bearing device to be linked, so that the bearing device ascends or descends.
The lifting device has the following defects:
driving motor and reduction gear adopt horizontal transmission to connect, are fixed in on the chassis, and area occupied on the chassis has taken a large amount of plane spaces for driving motor's whole fuselage and the whole volume sum of reduction gear, is unfavorable for arranging of other parts (like electric wire, electric elements, hardware and battery etc.) in the AGV, and the installation maintenance is inconvenient, also does not benefit to AGV's miniaturized design.
In addition, adopt crank rocker mechanism drive four-bar linkage, at the lift in-process, crank and rocker swing, the area occupied at the horizontal plane is the sum of crank and rocker projection area on the horizontal plane, because the crank rocker needs certain length, so, the space that occupies the AGV chassis is great, causes the waste in space, and the structure is complicated. In addition, the acting force applied to the crank rocker mechanism is uneven, so that the stress of the driving motor is uneven, the driving power of the driving motor is not fully utilized, and the lifting efficiency is low.
In order to solve the problems, the disclosure provides a lifting device, which can reduce the occupation of the plane space to the maximum extent, so that the structure of the whole machine is more compact; moreover, the lifting process is more stable, and the lifting efficiency is further improved.
As shown in fig. 1 and 2, the lifting apparatus 100 may be applied to a carrying device, which may be a forklift, a crane, a transporter, a cart, a robot guided vehicle, a mobile robot, or the like. The automated guided vehicle includes a chassis (not shown) to which the lifting device 100 may be secured. The present disclosure is described by taking the automated guided vehicle as an example, but the present disclosure is not limited thereto, and the lifting device 100 may be applied to other transportation and transportation equipment or used as a loading and lifting mechanism independently.
The lifting device 100 includes a carrier 10, a linkage 20 and a driving mechanism 30.
The carrier 10 is fixed above the linkage 20 for directly or indirectly carrying the object to be lifted. In an embodiment, the supporting device 10 is a supporting platform, for example, in a shape of a circular disc, a rectangular ring, a circular ring, an arc ring formed by two or four arcs, which are only examples, and the specific shape of the supporting device is not limited in the embodiments of the present disclosure. In another embodiment, the carrier 10 may also be a frame structure or other shaped structure, configurable according to the type of object to be lifted. In one embodiment, for example, the object to be lifted may be placed directly on the carrier 10; or, a plurality of mounting holes for mounting the carrying mechanism are formed in the carrying device 10, the object to be lifted is placed on the carrying mechanism, and the object to be lifted is indirectly carried by the carrying device 10.
The linkage 20 is disposed below the carrier 10 to support the carrier 10 to be raised or lowered. The linkage 20 includes links and connecting rods that form a parallelogram linkage. In one embodiment, the connecting rod may include a first sub-linkage and a second sub-linkage, and the connecting rod may include an upper connecting rod 27 and a lower connecting rod 25. The carrier 10 may be fixed above the upper connecting rod 27.
As shown in fig. 1 and 5, the upper end of the first sub-linkage is hinged to the upper connecting rod 27, and the lower end is hinged to the lower connecting rod 25, and the first sub-linkage, the upper connecting rod 27 and the lower connecting rod 25 together form an upper parallelogram linkage. The upper end of the second sub-linkage is hinged with the lower connecting rod 25, the lower end of the second sub-linkage is fixedly hinged, and the second sub-linkage and the lower connecting rod 25 jointly form a lower parallelogram linkage. The upper and lower parallelogram linkages share a lower connecting rod 25 to form a connected double parallelogram linkage. Thus, the carrier 10 can be raised and lowered in the vertical direction by the double parallelogram linkage.
The drive mechanism 30 includes a moving block 31 and a drive motor 33.
The moving block 31 is connected to the first sub-linkage 20, and the driving motor 33 can drive the moving block 31 to move up and down, so as to swing the linkage 20, thereby raising or lowering the carrying device 10.
In the embodiment of the disclosure, the moving block 31 of the driving mechanism 30 moves up and down to drive the linkage 20 to swing, so that the bearing device 10 ascends or descends. The moving block 31 moves up and down, and compared with the swinging of a crank rocker, the projection area on the horizontal plane is reduced, so that the occupied space of the carrying equipment can be reduced. For example, in the scenario that the lifting device 100 is applied to an AGV, the occupied space of the AGV chassis can be reduced, and more space is provided for the arrangement and installation of other components, so that the installation and maintenance are more convenient, and the miniaturization of the AGV is facilitated.
In an embodiment, the driving mechanism 30 may further include a lead screw 32, the lead screw 32 is in threaded connection with the moving block 31, and the driving motor 33 drives the lead screw 32 to rotate, so as to drive the moving block 31 to move up and down, thereby driving the first sub-linkage 20 to swing, so as to raise or lower the carrying device 10. For example, the moving block 31 may be directly screwed on the lead screw 32, or a nut may be screwed on the lead screw 32, and the moving block 31 is in threaded transmission with the lead screw 32 through the nut.
When the first sub-linkage is operated, the driving motor 33 rotates to drive the lead screw 32 to rotate, and the moving block 31 moves up or down on the lead screw 32. In the process that the moving block 31 moves upwards or downwards, the moving block 31 drives the first sub-linkage 20 to swing, so that the upper and lower parallelogram linkage mechanisms are driven to be linked, and under the action of the upper and lower parallelogram linkage mechanisms, the upper connecting rod 27 rises or falls along the vertical direction, so that the bearing device 10 fixed above the upper connecting rod 27 rises or falls, and the lifting operation is realized.
The lifting device 100 of the embodiment of the disclosure forms the driving mechanism by matching the driving motor 33 with the lead screw 32 and the moving block 31, has a compact structure, and enables lifting to be more stable due to constant and uniform loads applied to the lead screw 32 and the moving block 31 in the ascending or descending process of the bearing device 10, and the output power of the driving motor 33 is utilized more sufficiently, and the lifting speed is higher on the premise of the same output power.
In another embodiment, the driving mechanism 30 may further include a gear connected to the output end of the driving motor 33 and a rack fixedly connected to the moving block 31, the gear is engaged with the rack, and the gear and the rack are in transmission fit to convert the rotational motion of the gear into an up-and-down linear motion of the rack, so as to drive the moving block to move up or down. When the device works, the driving motor 33 rotates, the driving gear rotates, the gear is meshed with the rack for transmission, the rack is driven to move up and down, and therefore the moving block 31 is driven to move up or down.
In some embodiments, as shown in fig. 1 and 3, the first sub-linkage may include a first upper swing arm 21 and a second upper swing arm 22, and the second sub-linkage may include a first lower swing arm 23 and a second lower swing arm 24.
The upper end of the first upper swing arm 21 is hinged to the first end 271 of the upper connecting rod 27 by a first hinge shaft 41, and the lower end of the first upper swing arm 21 is hinged to one end of the lower connecting rod 25 by a second hinge shaft 42. The upper end of the second upper swing arm 22 is hinged to the second end 272 of the upper connecting rod 27 by a third hinge shaft 43, and the lower end of the second upper swing arm 22 is hinged to the other end of the lower connecting rod 25 by a fourth hinge shaft 44. Thereby, the first upper swing arm 21, the upper connecting rod 27, the second upper swing arm 22, and the lower connecting rod 25 form an upper parallelogram link mechanism.
The upper end of the first lower swing arm 23 is hinged with the first upper swing arm 21 and the lower connecting rod 25 through a second hinge shaft 42, and the lower end of the first lower swing arm 23 is hinged with the chassis or hinged with the fixed seat 35. The upper end of the second lower swing arm 24 is hinged with the second upper swing arm 22 and the lower connecting rod 25 through a fourth hinge shaft 44, and the lower end of the second lower swing arm 24 is fixedly hinged. Therefore, the first lower swing arm 23, the lower connecting rod 25, the second lower swing arm 24 and the chassis form a lower parallelogram linkage mechanism. The upper and lower parallelogram linkages share a lower connecting rod 25 to form a linked upper and lower double parallelogram linkage (shown in fig. 5).
The moving block 31 is hinged with the first end 271 of the upper connecting rod 27 and the first upper swing arm 21 by the first hinge shaft 41. The driving motor 33 drives the screw rod 32 to rotate, the moving block 31 is in threaded fit with the screw rod 32 to drive the moving block 31 to move upwards or downwards, in the process that the moving block 31 moves upwards or downwards, the moving block 31 pulls the upper connecting rod 27 and the first upper swing arm 21 to swing, so that the upper parallelogram connecting rod mechanism and the lower parallelogram connecting rod mechanism are driven to be linked, and under the action of the upper parallelogram connecting rod mechanism and the lower parallelogram connecting rod mechanism, the upper connecting rod 27 rises or falls along the vertical direction, so that the bearing device 10 rises or falls, and the lifting operation is realized.
Based on the lifting of the upper and lower two parallelogram linkages, the required horizontal component force can be made smaller as the horizontal displacement is smaller closer to the upper end of the first upper swing arm 21 than in a single parallelogram linkage. Therefore, the moving block 31 is hinged with the first end 271 of the upper connecting rod 27 and the upper end of the first upper swing arm 21 by the first hinge shaft 41, so that the component force of the force output by the driving motor 33 in the horizontal direction is small and the component force in the vertical direction is larger during the upward or downward movement of the moving block 31, and the driving power of the driving motor 33 is more fully utilized.
However, the present disclosure is not limited thereto, and the moving block 31 may be hinged only to the first end 271 of the upper connecting rod 27; alternatively, the mobile block 31 is hinged only to the first upper swing arm 21. In the process that the driving motor 33 drives the screw rod to rotate and drives the moving block 31 to move upwards or downwards, the moving block 31 pulls the upper connecting rod 27 or the first upper swing arm 21 to swing, and the upper and lower parallelogram link mechanisms are driven to be linked, so that the bearing device 10 is lifted or lowered.
In order to further improve the supporting stability of the lifting device, in another embodiment of the present disclosure, the linkage 20 may be arranged in two groups, that is, the first sub-linkage, the second sub-linkage, the upper connecting rod 27 and the lower connecting rod 25 may be arranged in two groups, symmetrically arranged at two sides (left side and right side in fig. 1) below the carrying device 10, to form two groups of upper parallelogram linkages and two groups of lower parallelogram linkages, which are bilaterally symmetric. Where left and right sides refer to left and right sides with respect to the direction of travel of the AGV.
The upper ends of the first upper swing arms 21 of the first group are hinged to one side (left side in fig. 1) of the first end 271 of the upper connecting rod 27 through a first hinge shaft 41, and are hinged to the moving block 31 through the first hinge shaft 41; the upper end (not shown) of the first upper swing arm and the moving block 31 of the second group are hinged to the other side (right side in fig. 1) of the first end 271 of the bearing device 10 through a first hinge shaft 41, and are hinged to the moving block 31 through the first hinge shaft 41.
The first group of the second upper swing arms 22 and the second group of the second upper swing arms 22' are hinged on both sides (left and right sides in fig. 1) of the second end 272 of the upper connecting rod 27, respectively.
Wherein, the second upper swing arm 22 of the upper parallelogram linkage mechanism of the first group and the second upper swing arm 22' of the upper parallelogram linkage mechanism of the second group are connected through a first cross bar 26 and can be integrally formed; the second lower swing arm 24 of the first set of lower parallelogram linkages and the second lower swing arm 24' of the second set of lower parallelogram linkages are connected by a second cross bar (not shown) and can be integrally formed to make the lifting process more stable. The upper connecting rods 27 of the upper parallelogram linkages of the first set and the upper connecting rods of the upper parallelogram linkages of the second set may be integrally formed to further stabilize the lifting process.
The upper connecting rods 27 of the first group and the upper connecting rods of the second group may be integrally formed as a plate-like structure, which may be used to directly or indirectly carry the object to be lifted. That is, the lifting device 100 may not be provided with the carrier device 10 separately, but may carry the object by using an integrally formed plate-shaped structure.
The first lower swing arm 23 of the first group is hinged with the first upper swing arm 21 of the first group through a second hinge shaft 42, and the first lower swing arm (not shown) of the second group is hinged with the first upper swing arm of the second group through the second hinge shaft 42.
The first group second lower swing arm 24 and the second group second lower swing arm 24 'are respectively hinged with the first group second upper swing arm 22 and the second group second upper swing arm 22' through a fourth hinge shaft 44.
The lower connecting rod 25 of the first group is connected to one side (left side in fig. 1) of the second hinge shaft 42 and the fourth hinge shaft 44, and the connecting rod 25' of the second group is connected to the other side (right side in fig. 1) of the second hinge shaft 42 and the fourth hinge shaft 44.
An upper parallelogram linkage and a lower parallelogram linkage are respectively formed on two sides (left side and right side in fig. 1) below the bearing device 10 through the two groups of linkage groups 20 to form four-point support for the bearing device 10, so that the bearing device 10 can obtain more stable supporting effect in the ascending or descending process, and an object to be lifted borne on the bearing device 10 can stably run to a specified height.
In addition, under the prerequisite of guaranteeing four stable point supports, because lifting device 100's structure is compacter, the space that occupies the AGV chassis reduces for lifting device 100 can be according to the size on AGV chassis, through the length that changes parallel four deformation link mechanism, can expand easily, with the object type and the lifting height that the adaptation AGV needs to bear.
For example, as shown in fig. 3, by changing the lengths of the second link 25 and the upper connecting rod 27, the carrying area of the carrying device 10 fixed on the upper connecting rod 27 can be conveniently enlarged, and the carrying capacity can be increased, thereby improving the operation efficiency; the adaptability for bearing objects with different types and sizes can be improved. In addition, by changing the lengths of the upper swing arm (the first upper swing arm 21 and the second upper swing arm 22) and the lower swing arm (the first lower swing arm 23 and the second lower swing arm 24), the lifting height of the bearing device 10 can be easily increased, and the lifting performance can be improved.
In some embodiments, as shown in fig. 1, the driving motor 33 is vertically disposed outside a projection area of the moving block 31 and the linkage 20 in the vertical direction. Compared with the case that the driving motor 33 is arranged below the connecting rod group 20, the interference between the lifting of the moving block 31 and the bearing device 10 and the interference of the driving motor 33 is avoided, and an avoidance space can be provided for the lifting of the moving block 31 and the bearing device 10, so that the moving block 31 and the bearing device 10 can obtain the maximum stroke in the vertical direction, and the lifting height of the bearing device 10 is improved.
For example, the drive motor 33 may be located in front of the linkage 20. In fig. 1, the front direction refers to the AGV traveling direction, and the rear direction refers to the direction opposite to the traveling direction. That is, the drive mechanism 30 of the lifting device 100 may be located at the front end of the AGV chassis. The present disclosure is not limited thereto and the drive mechanism 30 of the lift device 100 may also be located at the rear end of the AGV chassis and may be adjusted according to the placement and routing of other components of the AGV.
As shown in fig. 3 and 4, in the lifting apparatus 100 according to the embodiment of the disclosure, the driving motor 33 is vertically arranged, that is, the driving motor 33 is vertically arranged, and an area occupied in a planar space is an area of a cross section of the driving motor 33, so that the occupied planar space is greatly reduced compared with a driving motor arranged horizontally. For example, in a scenario where the lifting device 100 is applied to an AGV, the occupied space of the AGV chassis can be reduced, and more space is provided for arrangement and installation of other components, so that installation and maintenance are more convenient. For example, a larger space can be provided for a battery in the AGV, so that the capacity of the battery can be made larger, and the cruising ability of the AGV is improved; the positions of the camera and the sensor can be arranged more conveniently, so that navigation components such as the camera and the sensor on the AGV can obtain wider visual fields, and the navigation accuracy is improved; larger motors can also be used to carry larger loads and to carry more or heavier objects to be lifted. The length of the upper 27 and lower 25 connecting rods can also be extended for the same chassis size to increase the carrying area of the carrier 10 fixed to the upper connecting rod 27 for higher AGV carrying capacity.
In some embodiments, the drive mechanism 30 also includes a speed reducer 34 that functions to match the rotational speed required to raise or lower the lead screw 32, as well as to transmit torque. The speed reducer 34 may include a housing and a gear train (not shown) located within the housing. The output end of the reducer 34 is positioned below the moving block 31 and connected with the screw rod 32; the input end of the speed reducer 34 is positioned below the driving motor 33 and connected with the output shaft of the driving motor 33. The driving motor 33 rotates to change the rotation speed and transmit torque through the reducer 34, so as to drive the lead screw 32 to rotate, and the moving block 31 driven by the lead screw threads moves upwards or downwards to drive the upper and lower parallelogram link mechanisms to be linked, so that the bearing device 10 is lifted.
As shown in fig. 3 and 4, the input end of the speed reducer 34 is located below the driving motor 33, and the output end is located below the moving block 31, so that a part of the speed reducer 34 is within the area of the vertical projection of the moving block 31 and a part is within the area of the vertical projection of the driving motor 33.
In fact, in the planar space of the AGV chassis, besides the space occupied by the parallel four-bar linkage, the lead screw 32 and the moving block 31, which are necessary for completing the lifting operation, and the projection area of the driving motor 33 in the vertical direction, the speed reducer 34 does not need to additionally occupy the chassis space, and the occupied area of the chassis space is greatly reduced. Therefore, compared with the way that the driving motor and the reducer are horizontally arranged on the chassis in the related art, the lifting device 100 of the present disclosure has a tendency to minimize the occupied space of the plane, so that the lifting device 100 is more compact, provides more space for arranging other components of the AGV, and facilitates the miniaturization design of the AGV to improve the adaptability under the limited working environment.
In some embodiments, as shown in fig. 1 and 2, the drive mechanism 30 further includes a fixed mount 35. The fixing seat 35 can be detachably fixed on the AGV chassis through bolts. The fixing base 35 is located below the moving block 31, and is used for fixing the driving motor 33 and the reducer 34. The fixing base 35 may include a base 351 and a pair of symmetrical frame bodies 352 located at both sides (left and right sides) of the base 351. Vertical linear rails 36 are disposed on opposite inner side surfaces of the two frame bodies 352, and both sides (left and right sides) of the moving block 31 are slidably coupled to the rails 36, respectively. In the up-and-down movement process of the moving block 31, two sides of the moving block 31 slide in the slide rails 36, so that the moving block 31 can move upwards or downwards more stably, and then the upper and lower two parallelogram link mechanisms can be driven to link more stably, so that an object to be lifted borne on the bearing device 10 can be conveyed to a specified position more stably.
The speed reducer 34 is fixed at the bottom of the seat body 351, a groove is formed at the bottom of the seat body 351, a part of the speed reducer 34 is accommodated in the accommodating groove, and one end of the screw rod 32 penetrates through the seat body 351 and extends into the accommodating groove to be connected with the output end of the speed reducer 34. The driving motor 33 is fixed to the front end of the seat body 351. The lower end of the first lower swing arm 23 is hinged to the side of the seat body 351. For example, the lower end of the first lower swing arm 23 of the first group is hinged to the left end of the seat body 351, the second lower swing arm of the second group is hinged to the right end of the seat body 351, and the speed reducer 34 is located between the first lower swing arm 23 of the first group and the lower swing arm of the second group. The whole lifting device 100 can be used as an independent whole and can be assembled on AGV chassis of different types, only the fixed seat 35 and the chassis are required to be installed through bolts, and the installation and the disassembly are convenient.
In an embodiment, a limiting member is disposed at least one end of the frame 352, for example, an upper limiting member 38 is disposed at the top of the frame 352, and the upper limiting member 38 limits the upward movement stroke of the moving block 31, so as to prevent the moving block 31 from disengaging from the slide rail 36, which may cause an object carried on the carrying device 10 to slip off, thereby improving safety. In another embodiment, a lower stopper (not shown) may be further disposed at the bottom of the frame 352 to display a downward movement stroke of the moving block 31, so as to prevent the moving block 31 from colliding with the fixed base 35 and being damaged.
To sum up, the lifting device 100 provided by the embodiment of the present disclosure can be installed on an AGV chassis, when the lifting device is in operation, the AGV is in butt joint with a conveying device (for example, a roller conveying device), an object to be lifted conveyed by the conveying device is placed on the bearing device 10, the AGV reaches a position to be lifted along a predetermined track, then the driving motor 33 of the lifting device 100 is started, the driving motor 33 rotates, the rotating speed and the torque are adjusted by the reducer 34, the lead screw 32 is driven to rotate, the moving block 31 is driven by the lead screw 32 to move in the vertical direction along the linear guide rail 36, the moving block 31 pulls the first upper swing arm 21 to swing, the whole connecting rod group 20 is driven to link, under the action of the upper and lower parallelogram link mechanisms, the upper connecting rod 27 rises to jack up the bearing device 10, the object borne on the bearing device 10 is lifted to a designated height, and the lifting operation is completed.
The lifting device 100 provided by the embodiment of the disclosure at least has the following beneficial effects:
the bearing device 10 is supported by the two groups of linkage rods 20 at four points, so that the object borne on the bearing device 10 can be stably lifted to a specified position.
In addition, under the prerequisite of four points support, through the drive motor 33 cooperation lead screw 32 and the movable block 31 transmission of vertical setting, make lifting device 100 can be more steady at the lifting in-process, and then make drive motor 33's drive power utilize more fully, reduce the lifting time, improve the operating efficiency.
In addition, in the whole lifting device 100, besides the necessary four-bar linkage mechanism for keeping the lifting device 100 stably operating, as shown in fig. 4, when viewed from the top, a part of the speed reducer 34 of the driving mechanism 30 is located below the driving motor 33, and a part of the speed reducer is located below the moving block 31, therefore, the speed reducer 34 does not need to occupy additional space, and only occupies the cross-sectional space of one driving motor 33, compared with the way that the driving motor and the speed reducer are horizontally matched, the lifting device 100 of the present disclosure is more compact, and the occupied space on the plane is minimized.
Furthermore, the lifting device 100 can be easily adjusted by changing the length of the linkage according to the size of the AGV chassis, so as to meet the requirements of different loading types and lifting heights. Moreover, the AGV chassis can be used as an independent integral structure and can be installed on AGV chassis of different types in an adaptive mode, and the installation and the disassembly are convenient.
Based on the same concept, the present disclosure also provides a handling apparatus including the lifting device 100 described in any of the above embodiments. In an embodiment, the handling apparatus may be an automated guided vehicle, a mobile robot, and the like, which is not limited in the embodiment of the present disclosure. The carrying device includes a chassis, and the lifting device 100 is detachably disposed on the chassis, which may be an integrated chassis or a split chassis.
By configuring the lifting device 100 provided by the disclosure, the occupied area of a chassis of the carrying equipment can be reduced to the maximum extent, more space is provided for arrangement and installation of other parts, and the miniaturization of the automatic guided vehicle is facilitated.
In addition, the carrying equipment can enable objects borne on the bearing device 10 to be more stable in the advancing and lifting processes, and the safety is improved.
However, the present disclosure is not limited thereto, and the carrying device may be a forklift, a crane, a transporter, a cart, or the like.
The foregoing description of the implementation of the invention has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed, and modifications and variations are possible in light of the above teachings or may be acquired from practice of the invention. The embodiments were chosen and described in order to explain the principles of the invention and its practical application to enable one skilled in the art to utilize the invention in various embodiments and with various modifications as are suited to the particular use contemplated.

Claims (15)

1. A lifting device, wherein the lifting device comprises a linkage and a drive mechanism, wherein:
the connecting rod group comprises connecting rods and connecting rods, and the connecting rods form a parallelogram connecting rod mechanism;
the drive mechanism includes:
the moving block is connected with the connecting rod group;
and the driving motor can drive the moving block to move up and down so as to enable the connecting rod group to swing.
2. The lifting device of claim 1,
the drive mechanism further includes:
the lead screw is in threaded connection with the moving block;
the driving motor drives the lead screw to rotate and drives the moving block to move up and down.
3. The lifting device of claim 1,
the drive mechanism further includes:
the gear is connected with an output shaft of the driving motor;
the rack is fixedly connected with the moving block;
the gear is meshed with the rack.
4. A lifting device according to any one of claims 1 to 3,
the connecting rod comprises a first sub-connecting rod group and a second sub-connecting rod group, and the connecting rod comprises an upper connecting rod and a lower connecting rod;
the upper end of the first sub-connecting rod group is hinged with the upper connecting rod, and the lower end of the first sub-connecting rod group is hinged with the lower connecting rod to form an upper parallelogram connecting rod mechanism; the upper end of the second sub-connecting rod group is hinged with the lower connecting rod, and the lower end of the second sub-connecting rod group is fixedly hinged to form a lower parallelogram connecting rod mechanism.
5. The lifting device of claim 4, wherein the first sub-linkage comprises a first upper swing arm and a second upper swing arm, and the second sub-linkage comprises a first lower swing arm and a second lower swing arm;
the upper end of the first upper swing arm is hinged with the first end of the upper connecting rod through a first hinge shaft, the lower end of the first upper swing arm is hinged with one end of the lower connecting rod through a second hinge shaft,
the upper end of the second upper swing arm is hinged with the second end of the upper connecting rod through a third hinge shaft, and the lower end of the second upper swing arm is hinged with the other end of the lower connecting rod through a fourth hinge shaft;
the upper end of the first lower swing arm is hinged with the first upper swing arm and the lower connecting rod through a second hinge shaft, the lower end of the first lower swing arm is fixedly hinged,
the upper end of the second lower swing arm is hinged with the second upper swing arm and the lower connecting rod through a fourth hinge shaft, and the lower end of the second lower swing arm is fixedly hinged;
the moving block is hinged with the first end of the upper connecting rod and the first upper swing arm through the first hinge shaft.
6. The lifting device of claim 5,
the first sub-connecting rod group, the second sub-connecting rod group, the upper connecting rod and the lower connecting rod are arranged into two groups to form two groups of upper parallelogram link mechanisms which are bilaterally symmetrical and two groups of lower parallelogram link mechanisms which are bilaterally symmetrical;
the upper connecting rods of the upper parallelogram linkages of the first group are integrally formed with the upper connecting rods of the upper parallelogram linkages of the second group.
7. The lifting device of claim 5,
the second upper swing arm of the upper parallelogram linkage mechanism of the first group is connected with the second upper swing arm of the upper parallelogram linkage mechanism of the second group through a first cross rod;
the second lower swing arm of the first group of lower parallelogram linkage mechanisms is connected with the second lower swing arm of the second group of lower parallelogram linkage mechanisms through a second cross rod.
8. The lifting device of claim 2,
the driving motor is vertically arranged and is positioned outside a projection area of the moving block and the connecting rod group in the vertical direction.
9. The lifting device of claim 8,
the driving mechanism also comprises a speed reducer, the output end of the speed reducer is positioned below the moving block and is connected with the lead screw,
and the input end of the speed reducer is positioned below the driving motor and is connected with the output shaft of the driving motor.
10. The lifting device of claim 9,
the driving mechanism further comprises a fixed seat, the fixed seat comprises frame bodies located on two sides of the moving block, sliding rails are arranged on the inner surface of the frame bodies, and two sides of the moving block are respectively connected with the sliding rails in a sliding mode.
11. The lifting device of claim 10,
at least one end of the frame body is provided with a limiting piece.
12. The lifting device of claim 10,
the fixed seat also comprises a seat body connected between the two frame bodies, and the seat body is positioned below the moving block;
the speed reducer is fixed at the bottom of the seat body;
the driving motor is fixed at the front end part of the seat body.
13. The lifting device of claim 1, wherein the lifting device further comprises:
and the bearing device is fixed above the connecting rod group and used for directly or indirectly bearing the object to be lifted.
14. A handling apparatus, wherein the handling apparatus comprises a lifting device according to any of claims 1 to 13.
15. The transfer apparatus of claim 14, wherein the transfer apparatus comprises a robotic guided vehicle, a mobile robot.
CN202010753678.2A 2020-07-30 2020-07-30 Lifting device and carrying equipment Pending CN113443579A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010753678.2A CN113443579A (en) 2020-07-30 2020-07-30 Lifting device and carrying equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010753678.2A CN113443579A (en) 2020-07-30 2020-07-30 Lifting device and carrying equipment

Publications (1)

Publication Number Publication Date
CN113443579A true CN113443579A (en) 2021-09-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010753678.2A Pending CN113443579A (en) 2020-07-30 2020-07-30 Lifting device and carrying equipment

Country Status (1)

Country Link
CN (1) CN113443579A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114274749A (en) * 2021-12-30 2022-04-05 重庆长安汽车股份有限公司 Lifting mechanism for lifting automobile ceiling and lifting type ceiling
CN117429859A (en) * 2023-12-20 2024-01-23 珠海格力智能装备有限公司 Lifting device, material distribution system and control method of material distribution system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114274749A (en) * 2021-12-30 2022-04-05 重庆长安汽车股份有限公司 Lifting mechanism for lifting automobile ceiling and lifting type ceiling
CN114274749B (en) * 2021-12-30 2024-04-26 重庆长安汽车股份有限公司 Lifting mechanism for lifting automobile roof and lifting type roof
CN117429859A (en) * 2023-12-20 2024-01-23 珠海格力智能装备有限公司 Lifting device, material distribution system and control method of material distribution system
CN117429859B (en) * 2023-12-20 2024-05-14 珠海格力智能装备有限公司 Lifting device, material distribution system and control method of material distribution system

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