CN209322419U - Automated guided vehicle and its jacking apparatus - Google Patents

Abstract

The utility model relates to a kind of automated guided vehicle and its jacking apparatus, belong to homing guidance transportation robot technical field, comprising: substrate；Driving mechanism, setting is on the substrate；First rotary shaft, horizontally disposed to be connected on the substrate and with the driving mechanism, first rotary shaft rotates under the driving of the driving mechanism；At least one jacking seat, rotates axis connection with described first, and move up and down under the drive of first rotary shaft.The utility model based on the jacking apparatus under leverage principle, pass through the length of the arm of force of adjustment effect power, the size of adjustment effect power, and rotary shaft only needs seldom rotation that can realize jacking operation, driving mechanism power is small, and jacking is high-efficient, and climbing structure is laborsaving, under same top lift, motor only needs lesser power.

Description

Automated guided vehicle and its jacking apparatus

Technical field

The utility model relates to homing guidance transportation robot technical fields, transport in particular to a kind of homing guidance Defeated vehicle and its jacking apparatus.

Background technique

Automated guided vehicle, i.e. AGV vehicle are the important tools of the transport of automatic cargo in industrial automation.Automatic goods The transportational process of object needs to realize that, by the access of cargo jacking to certain laggard crudely-made articles object of height, the jacking of cargo is by certainly What the lifting body of dynamic guide transport lorry was realized, the generally existing jacking efficiency of the lifting body of existing automated guided vehicle Low, the problem of energy consumption is high, more specifically, traditional automated guided vehicle lifting body generally includes driving motor, gear set Part, trapezoidal nut and lead screw composition, the rotation of driving motor drive gear assemblies, gear assembly drives nut rotation, so that screw rod It moves up and down, the pallet of bearing goods is placed on lead screw, to realize the promotion of cargo.This climbing structure is not laborsaving, The many circles of motor rotation can only jack very least a portion of distance, and it is big to will lead to jacking power of motor in this way, jack low efficiency Problem, under same top lift, motor needs bigger power.

It should be noted that information is only used for reinforcing the reason to the background of the disclosure disclosed in above-mentioned background technology part Solution, therefore may include the information not constituted to the prior art known to persons of ordinary skill in the art.

Summary of the invention

The purpose of this utility model is to provide a kind of automated guided vehicle and its jacking apparatus based on link mechanism, The power for reducing driving motor, improving jacking efficiency, climbing structure is laborsaving simultaneously.

The utility model proposes a kind of jacking apparatus comprising:

Substrate；

Driving mechanism, setting is on the substrate；

First rotary shaft, horizontally disposed to be connected on the substrate and with the driving mechanism, first rotary shaft exists It is rotated under the driving of the driving mechanism；

At least one jacking seat, rotates axis connection with described first, and move up and down under the drive of first rotary shaft.

Further, be additionally provided with top plate for bearing goods on the jacking seat, the jacking apparatus further include to A few guiding device, the guiding device are vertically arranged with the substrate, top plate, and the guiding device includes being fixed on substrate Guide cylinder and the guide post that is fixed on top plate, the guide post be inserted into the guide cylinder and in the guide cylinder with the top Plate moves up and down.

Further, the driving mechanism includes driving assembly and the push rod for being connected to driving assembly output end, described to push away Bar is connect with one end of push rod connecting plate, and the other end of the push rod connecting plate and the first rotation axis connection, the push rod are driving The axis direction of push rod described in the driving lower edge of dynamic component does flexible linear motion, first rotation under push rod drive Axis rotates.

Further, one end of the push rod is connected with a flexural pivot, and the flexural pivot has an aperture, and the one of the push rod shaft End is fixed in the aperture, and the other end of the push rod shaft is fixed in the end through-hole of the push rod connecting plate.

Further, the driving component includes electric cylinders and fixed electric cylinders seat on the substrate, the electric cylinders and institute The flexible connection of electric cylinders seat is stated, the electric cylinders can be rotated around the electric cylinders seat axis.

Further, the both ends of first rotary shaft are connected on two first rotating shaft bases, first rotation The through-hole for fixing the first rotary shaft end is offered on axle bed.

Further, oscillating bearing is provided in the through-hole of first rotating shaft base, first rotary shaft passes through institute Oscillating bearing is stated to connect with first rotating shaft base.

Further, the jacking seat rotates axis connection, the jacking connecting plate and institute by jacking connecting plate and described first The first rotary shaft to be stated to be fixedly connected, the bottom end of the jacking seat is connect by jacking pitman shaft with the jacking connecting plate, and described the When one rotary shaft rotates, the jacking link motion is driven, the jacking connecting rod drives the jacking seat to move up and down.

Further, the bottom end of the jacking seat is provided with second joint bearing, and one end of the jacking pitman shaft passes through The second joint bearing is connect with the jacking seat.

Further, it is described jacking connecting plate length be less than and/or equal to the push rod connecting plate length.

It further, further include the second rotary shaft, the second rotation axis horizontal setting is on the substrate and positioned at institute Driving mechanism is stated different from the side of output end, second rotary shaft passes through linkage and the first rotation axis connection, institute When stating the rotation of the first rotary shaft, the rotation of the second rotary shaft is driven；

At least one jacking seat is connected in second rotary shaft, the jacking seat is rotated in second rotary shaft When, vertical up-or-down movement.

Further, the linkage includes interlocking lever and interlocks connecting plate, and the both ends of the interlocking lever pass through two respectively Interlock connecting plate and first rotary shaft and the second rotation axis connection.

Further, bearing is additionally provided in the guide cylinder, the guide post passes through the bearing and the guide cylinder Inside connection.

It further, further include the detection device that displacement is moved up and down for detecting the jacking seat, the detection device Including the grating bar being fixed on top plate, the lenticular lenses being fixed on the grating bar and the grating being fixed on substrate , it is provided with grating and lower grating on the grating seat, the lenticular lenses are moved up and down with the top plate, when the lenticular lenses When reaching the upper grating or the corresponding height and position of the lower grating, the detection device detects a signal and by the letter Number feed back to controller, controller controls driving mechanism according to the signal and stops working or move round about.

Also provide a kind of automated guided vehicle comprising the jacking apparatus and the installation jacking apparatus of any of the above-described Automated guided vehicle chassis.

Above-mentioned jacking apparatus includes substrate, driving mechanism, the first rotary shaft and at least one jacking seat, wherein driving machine Structure and the first rotary shaft are fixed on substrate, and the first rotation axis horizontal is placed, and driving mechanism is connected in the first rotary shaft, are jacked Seat is connected in the first rotary shaft, is that rotary shaft applies torque to which the first rotary shaft of driving turns around its axis by driving mechanism It is dynamic, torque is generated when rotary shaft is rotatable around its axis, connects quilt under the action of torque of rotating shaft of jacking seat on the rotary shaft It is lifted or to decline, the rotation of the first rotary shaft is driven by driving mechanism as a result, the first rotary shaft drives coupled top Oscilaltion is seated up, therefore, which is made rotating motion by the first rotary shaft of driving of driving mechanism, then passes through rotation The oscilaltion campaign of the rotary motion driving jacking seat of axis, forms using rotating shaft axis as the lever of fulcrum, former based on lever Reason realizes jacking, and the frictional force between each connecting component is small.Compared with traditional lifting body, the feelings of same goods weight are jacked Under condition, the driving power for needing driving mechanism to provide is small, jacks high-efficient.

It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not The disclosure can be limited.

Detailed description of the invention

The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure Example, and together with specification for explaining the principles of this disclosure.It should be evident that the accompanying drawings in the following description is only the disclosure Some embodiments for those of ordinary skill in the art without creative efforts, can also basis These attached drawings obtain other attached drawings.

Fig. 1 is the schematic perspective view of the jacking apparatus of the utility model；

Fig. 2 is the side schematic perspective view of the jacking apparatus of the utility model；

Fig. 3 is the front perspective structural schematic diagram of the jacking apparatus of the utility model；

Fig. 4 is the schematic diagram of the section structure of guiding device in one embodiment of the utility model.

Specific embodiment

Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot Structure or characteristic can be incorporated in any suitable manner in one or more embodiments.In the following description, it provides perhaps More details fully understand embodiment of the present disclosure to provide.It will be appreciated, however, by one skilled in the art that can It is omitted with technical solution of the disclosure one or more in the specific detail, or others side can be used Method, constituent element, device, step etc..In other cases, be not shown in detail or describe known solution to avoid a presumptuous guest usurps the role of the host and So that all aspects of this disclosure thicken.

In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", The orientation or positional relationship of the instructions such as " clockwise ", " counterclockwise " be based on the orientation or positional relationship shown in the drawings, be only for Convenient for description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have specifically Orientation is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicates indicated technology The quantity of feature.Define " first " as a result, the feature of " second " can explicitly or implicitly include it is one or more The feature.The meaning of " plurality " is two or more in the description of the present invention, unless otherwise clearly specific It limits.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection.It can be mechanical connection, be also possible to be electrically connected.Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements or the interaction relationship of two elements.For those of ordinary skill in the art and Speech, can understand the concrete meaning of above-mentioned term in the present embodiment as the case may be.

In addition, attached drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical attached drawing mark in figure Note indicates same or similar part, thus will omit repetition thereof.

A kind of jacking apparatus is provided in this example embodiment, which can be used for automated guided vehicle. Refering to what is shown in Fig. 1, the jacking apparatus 10 includes substrate 1, driving mechanism 4, the first rotary shaft 2 and at least one jacking seat 3.

Substrate 1 is for fixed drive mechanism 4, the first rotary shaft 3 and at least one jacking seat 3.

Driving mechanism 4 is arranged on substrate 1, including driving assembly 41 and the push rod for being connected to 41 output end of driving assembly 42, driving mechanism 42 is used to move by 41 driving push rod 42 of driving assembly and provide so that the movement of jacking apparatus 10 is moved Power.

First rotary shaft 2 is horizontally disposed to be connected on substrate 1 and with driving mechanism 4, under the driving of driving mechanism 4 around Its axis rotates.

At least one jacking seat 3 is connect with the first rotary shaft 2, and is moved up and down under the drive of the first rotary shaft 3.

Driving mechanism 4 is the first rotary shaft 2 application active force to which the first rotary shaft 2 of driving is rotatable around its axis, first Rotary shaft 2 generates torque when rotatable around its axis, connects jacking seat 3 on the rotary shaft in the effect of 2 torque of the first rotary shaft Under be lifted or to decline, be lifted to most when the arm of force that 2 pairs of the first rotary shaft jack seat active forces is vertical with horizontal direction High point can thus form the jacking apparatus under leverage principle, by the length of the arm of force of adjustment effect power, adjust and make Size firmly, and rotary shaft only needs seldom rotation that can realize jacking operation, and jacking driving mechanism power is small, jacking High-efficient, climbing structure is laborsaving, and under same top lift, motor only needs lesser power.

Further, refering to what is shown in Fig. 1, driving mechanism 4 includes driving assembly 41 and push rod 42, push rod 42 passes through push rod shaft 23 connect with one end of push rod connecting plate 24, and the other end of push rod connecting plate 24 is connect with the first rotary shaft 2, and push rod 42 is in driving assembly Axis direction under 41 driving along push rod 42 does flexible linear motion, then, by push rod shaft 23 drive push rod connecting plate 24 around The rotation of first rotary shaft, is the rotary motion of the first rotary shaft 2 by the transform linear motion of push rod, and the needs of driving assembly 41 are done Movement it is few, drive efficiency is high.

One end of push rod 42 is connected with a flexural pivot 421, and flexural pivot has an aperture, and one end of push rod shaft 23 is fixed on aperture In, the other end of push rod shaft 23 is fixed in the end through-hole of push rod connecting plate 24.In one embodiment, refering to what is shown in Fig. 1, opening Oscillating bearing 422 is set in hole, and one end of push rod shaft 23 is connected on push rod 42 by oscillating bearing 422, and oscillating bearing is two The inner ring and raceway of raceway are to be equipped with the bearing of barrel shaped roller, the center of curvature in outer ring raceway face between the outer ring of spherical surface Consistent with bearing centre, so having aligning function same as automatic aligning ball bearing, the oscillating bearing for having aligning can To compensate the concentricity due to caused by the deformation of processing, installation and axis and then increase fault-tolerance, and facilitate installation.

Driving assembly 41 includes electric cylinders 411 and fixed electric cylinders seat 412 on substrate 1, and electric cylinders 411 and electric cylinders seat 412 are living Dynamic connection, electric cylinders 411 can be rotated around 412 axis of electric cylinders seat, in this way, the push rod 42 in 411 output end of electric cylinders pulls push rod connecting plate 24 When being moved upwardly or downwardly, electric cylinders 411 can with push rod 42 freedom of motion downward or upward around electric cylinders seat 412 rotate, Prevent the insufficient height of stuck or the first rotary shaft 2 the rotation jacking not in place for leading to jack seat 3.

In one embodiment, driving assembly includes motor and gear assembly, and gear assembly includes on motor output shaft Output gear, and the driving gear of installation on the rotary shaft, output gear and driving gear are meshed, and are driven and are exported by motor Gear rotation, and then rotary shaft rotation is moved by driving gear band.It is appreciated that output gear and driving gear are also possible to band Perhaps sprocket wheel passes through band or chain link belt wheel or sprocket wheel to wheel.

Further, refering to what is shown in Fig. 1, the both ends of the first rotary shaft 2 are connected on two first rotating shaft bases 9, the The through-hole 91 for fixing the first rotary shaft end is offered on one rotating shaft base 9.

It is provided with oscillating bearing 92 in the through-hole 91 of first rotating shaft base 9, the first rotary shaft passes through oscillating bearing 92 and the The connection of one rotating shaft base 9, can increase fault-tolerance using the oscillating bearing for having aligning, and facilitate installation.

Further, refering to what is shown in Fig. 1, jacking seat 3 is connect by jacking connecting plate 21 with the first rotary shaft 2, connecting plate is jacked 21 are fixedly connected with the first rotary shaft 2.The bottom end of jacking seat 3 is connect by jacking pitman shaft 22 with jacking connecting plate 21.First rotation When shaft 2 rotates, jacking connecting plate 21 is driven to move, jacking connecting plate 21 converts top for rotary motion by jacking pitman shaft 31 3 up and down motion is seated up, and then realizes the jacking operation of jacking apparatus, rotary shaft rotation can realize jacking behaviour less than a circle Make, jacks high-efficient.

The bottom end of jacking seat 3 is provided with second joint bearing 34, and one end of jacking pitman shaft 22 passes through second joint bearing 34 connect with jacking seat 3, can increase fault-tolerance using the oscillating bearing for having aligning, and facilitate installation, make to jack position That sets is more uniformly stressed.

Jacking seat 3 includes lifting pin 32 and pedestal 33, and the upper end of lifting pin 32 is connect with pedestal 33, the lower end of lifting pin 32 It is connect with jacking connecting plate 21.

As shown in connection with fig. 2, jack connecting plate 21 length be less than and/or equal to push rod connecting plate 24 length.Jack connecting plate and Push rod connecting plate using the first rotary shaft as fulcrum formed lever, the length for jacking connecting plate be less than and/or equal to push rod connecting plate length Laborsaving lever can be formed, push rod drives push rod connecting plate to rotate around rotating shaft axis, then drives jacking connecting plate rotation, at this time It agitates the connected jacking seat of jacking connecting plate as fulcrum using rotary shaft to move up, structure is laborsaving.In one embodiment, connecting plate is jacked 21 length and the length ratio of push rod connecting plate 24 are 1:1.In another embodiment, jack connecting plate 21 length with push away The length ratio of bar connecting plate 24 is 1:3.It is appreciated that in other embodiments, jacking the length and push rod connecting plate of connecting plate 21 24 length ratio is to be also possible to be needed to be set as other ratios according to jacking, for example, 1:2,1:4......1:10 etc..Its In, the length of jacking connecting plate 21 indicates rotary shaft to the arm of force of jacking seat active force, and the length of push rod connecting plate 24 indicates driving machine The arm of force of the structure to the active force of rotary shaft；It can thus be formed based on the jacking apparatus under leverage principle, pass through adjusting The length of the arm of force of active force adjusts the ratio of laborsaving lever, and jacking behaviour can be realized in the lesser amplitude of rotary shaft rotation Make, required driving mechanism power is small, jacks high-efficient.

The ratio of laborsaving lever in this example by jack connecting plate 21 length and push rod connecting plate 24 length ratio come Indicate because, the length at balance pivot both ends mainly by adjust jacking connecting plate 21 length and push rod connecting plate 24 length come It is adjusted.It is appreciated that being based on lever principle, in other examples, the ratio of laborsaving lever can also be according to practical application Needs, by other at fulcrum both ends, thus it is possible to vary the length ratio of the mechanism of lever arm of force indicates.

For example, in one example, the ratio of laborsaving lever are as follows: the length on jacking 21 vertex of connecting plate to rotating shaft axis and Length ratio of the vertex of push rod connecting plate 24 to rotating shaft axis.

By utilizing lever principle, needed using link mechanism relative to traditional trapezoidal nut lifting body for lead screw There is provided short transverse on biggish space, while drive screw rod move running part, such as gear assembly be also required to it is biggish Drive space, whole height or width or length larger；This example embodiment is simple and compact for structure, easy for installation, whole Body height or width or length are smaller, and occupied space is small, effectively reduce the size of automated guided vehicle AGV, mention Rise the movenent performance of AGV.

Further, refering to what is shown in Fig. 1, jacking apparatus 10 further includes the second rotary shaft 5, the second rotary shaft 5 is horizontally disposed On substrate 1 and it is located at driving mechanism 4 different from the side of output end, the second rotary shaft 5 passes through linkage 11 and the first rotation Axis 2 connects, and when the first rotary shaft 2 rotates, drives the rotation of the second rotary shaft 5.Two can be effectively ensured by linkage 11 The synchronous rotation of rotary shaft, and then guarantee synchronous raising and lowering in setting jacking seat in the second rotary shaft, improve jacking dress The stability set.Meanwhile driving mechanism being placed between two rotary shafts, the space occupied is small, effectively reduces homing guidance fortune The size of defeated vehicle AGV, promotes the movenent performance of AGV.

At least one jacking seat is connected in second rotary shaft, in the present embodiment, the both ends of the second rotary shaft are respectively set One jacking seat.In other embodiments, according to practical application, multiple jacking seats can also be connected in the second rotary shaft.Each jacking Seat is by linkage and the second rotation axis connection, and in the rotation of the second rotary shaft, each seat that jacks is with the rotation of the second rotary shaft And vertical up-or-down movement.

In one embodiment, the second rotation axis horizontal, which is disposed on the substrate and is located at driving mechanism, is identical to output end Side, the second rotary shaft when the first rotary shaft rotates, drive the second rotary shaft to turn by linkage and the first rotation axis connection It is dynamic.

Linkage 11 includes interlocking lever 111 and interlocks connecting plate 112, and the both ends of interlocking lever 111 pass through two gearings company respectively Plate 112 is connect with the first rotary shaft 2 and the second rotary shaft 5.

In one embodiment, linkage includes interlocking chain and sprocket, in the first rotary shaft and the second rotary shaft respectively A sprocket wheel is fixed, chain is interlocked and covers on two sprocket wheels simultaneously, so that two sprocket wheel rotations are consistent, and then guarantees the first rotary shaft It is rotated simultaneously with the second rotary shaft.It is appreciated that in other embodiments, driving belt and band also can be set into linkage Wheel.

Further, with reference to shown in Fig. 2, Fig. 3 and Fig. 4, the top plate 13 being additionally provided on seat 3 for bearing goods is jacked. Jacking apparatus 10 further includes an at least guiding device 7, and guiding device 7 is vertically arranged with substrate 1, top plate 13.Guiding device 7 includes Fixed guide cylinder 71 on substrate 1 and the guide post 72 being fixed on top plate, guide post 72 are inserted into guide cylinder 71 and in guide cylinder It is moved up and down in 71 with top plate 13, ensures that raising plate 13 is moved along vertically direction by guiding device 7, guarantee raising plate Motion profile is consistent, improves the stability of jacking apparatus 10, and motion profile is unique, and then jacks accuracy height, meanwhile, by leading To device, jacking apparatus will not cause movement that lateral deviation occurs during jacking because of pressure, and kinetic stability is good, move rigidity By force.

Locating plate 13 is provided on top plate 12.

Bearing 73 is additionally provided in guide cylinder 71, guide post 72 is connect by bearing 73 with the inner wall of guide cylinder 71.The bearing It can be plastic bearing or self-lubricating bearing, the friction between guide post and guide cylinder can be effectively reduced, improve guiding device Reliability.

In one embodiment, the quantity of guiding device is multiple, is arranged in substrate two sides；As shown in connection with fig. 1, originally show In example, including two guiding devices 7, it is opposite to be arranged in parallel in substrate two sides, the reliability of guiding is effectively ensured.

Jacking apparatus 10 further includes the detection device 6 that displacement is moved up and down for detecting jacking seat 13.Detection device 6 includes The grating bar 61 that is fixed on top plate, the lenticular lenses 62 being fixed on grating bar 61 and fixed grating seat on substrate 1 63, grating 65 and lower grating 64 are provided on grating seat 63.Lenticular lenses 62 can be moved up and down with top plate 13, when lenticular lenses 62 arrive When up to upper grating 65 or lower 64 corresponding height and position of grating, detection device detects a signal, which can be with current signal Or voltage signal, for example, detection device detects that a high level is believed when lenticular lenses 62 reach the position at upper 65 place of grating Number, when lenticular lenses 62 reach the position at lower 64 place of grating, detection device detects a low level signal.Detection device will be believed Number feed back to controller, controller controls driving mechanism according to signal and stops working or move round about.In this way, can prevent Top plate overtravel is mobile.

Further, the disclosure also provides a kind of automated guided vehicle comprising the jacking apparatus of any of the above-described and The chassis of the automated guided vehicle of the jacking apparatus is installed.It can make automated guided vehicle that there is any of the above-described Beneficial effect.

In conclusion jacking apparatus drives the first rotary shaft to make rotating motion by driving mechanism in the utility model, then By the oscilaltion campaign of the rotary motion driving jacking seat of rotary shaft, formed using rotating shaft axis as the lever of fulcrum, base It realizes and jacks in lever principle, compared with traditional lifting body, in the case where jacking same goods weight, driving mechanism is needed to mention The driving power of confession is small, jacks high-efficient.

By setting up jacking connecting plate and push rod connecting plate, adjusts and the active force arm of force of the lever of top lift is provided in jacking apparatus Length, formed laborsaving lever, keep climbing structure more laborsaving.

Ensure that raising plate is moved along vertically direction by guiding device, guarantees that the motion profile of raising plate is consistent, mention The stability of high height lifting device, jacking accuracy is high, meanwhile, by guiding device, jacking apparatus will not be because during jacking Cause movement that lateral deviation occurs for pressure, kinetic stability is good, and movement rigidity is strong.

Top plate overtravel can be prevented mobile by the detection device that detection jacking seat moves up and down displacement.

It is realized and is jacked using link mechanism, simple and compact for structure, easy for installation, overall volume is smaller, can effectively reduce The size of automated guided vehicle AGV promotes the movenent performance of AGV.

In addition, above-mentioned attached drawing is only schematically illustrating for processing included according to an exemplary embodiment of the present, without It is limitation purpose.Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to the disclosure Other embodiments.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes Or adaptive change follow the general principles of this disclosure and including the disclosure it is undocumented in the art known in often Knowledge or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by right It is required that pointing out.

Claims (17)

1. a kind of jacking apparatus characterized by comprising

Substrate；

Driving mechanism, setting is on the substrate；

First rotary shaft, horizontally disposed to be connected on the substrate and with the driving mechanism, first rotary shaft is described It is rotated under the driving of driving mechanism；

At least one jacking seat, rotates axis connection with described first, and move up and down under the drive of first rotary shaft.

2. jacking apparatus according to claim 1, which is characterized in that be additionally provided on the jacking seat for bearing goods Top plate, the jacking apparatus further includes an at least guiding device, and the guiding device is vertically arranged with the substrate, top plate, The guiding device includes the guide cylinder being fixed on substrate and the guide post that is fixed on top plate, and the guide post is inserted into the guiding It is moved up and down in cylinder and in the guide cylinder with the top plate.

3. jacking apparatus according to claim 1, which is characterized in that the driving mechanism includes driving assembly and is connected to The push rod of driving assembly output end, the push rod are connect with one end of push rod connecting plate, the other end of the push rod connecting plate with it is described First rotation axis connection, the axis direction of push rod push rod described in the driving lower edge of driving assembly do flexible linear motion, First rotary shaft rotates under push rod drive.

4. jacking apparatus according to claim 3, which is characterized in that one end of the push rod is connected with a flexural pivot, described Flexural pivot has an aperture, and one end of push rod shaft is fixed in the aperture, and the other end of the push rod shaft is fixed on the push rod In the end through-hole of connecting plate.

5. jacking apparatus according to claim 3, which is characterized in that the driving component includes electric cylinders and is fixed on described Electric cylinders seat on substrate, the electric cylinders are flexibly connected with the electric cylinders seat, and the electric cylinders can be rotated around the electric cylinders seat axis.

6. jacking apparatus according to claim 3, which is characterized in that the driving component includes motor and gear assembly, The gear assembly includes the output gear being mounted on the motor output shaft, and the sliding tooth being mounted in the rotary shaft Wheel, the output gear and the driving gear are meshed.

7. jacking apparatus according to claim 1, which is characterized in that the both ends of first rotary shaft are connected to two On first rotating shaft base, the through-hole for fixing the first rotary shaft end is offered on first rotating shaft base.

8. jacking apparatus according to claim 7, which is characterized in that setting is related in the through-hole of first rotating shaft base Bearings, first rotary shaft are connect by the oscillating bearing with first rotating shaft base.

9. jacking apparatus according to claim 1, which is characterized in that the jacking seat passes through jacking connecting plate and described first Axis connection is rotated, the jacking connecting plate is fixedly connected with first rotary shaft, and the bottom end of the jacking seat passes through jacking connecting rod Axis is connect with the jacking connecting plate, and the driving mechanism is connect with one end of push rod connecting plate, the other end of push rod connecting plate and first Axis connection is rotated, the driving mechanism drives push rod connecting plate to rotate around the first rotary shaft, and then drives the first rotary shaft rotation Turn, when first rotary shaft rotates, drives the jacking link motion, the jacking connecting rod drives and moves down on the jacking seat It is dynamic.

10. jacking apparatus according to claim 9, which is characterized in that the bottom end of the jacking seat is provided with second joint One end of bearing, the jacking pitman shaft is connect by the second joint bearing with the jacking seat.

11. jacking apparatus according to claim 9, which is characterized in that the length of the jacking connecting plate is less than and/or is equal to The length of the push rod connecting plate.

12. jacking apparatus according to claim 1, which is characterized in that it further include the second rotary shaft, second rotary shaft It is horizontally disposed on the substrate and is located at the driving mechanism different from the side of output end, second rotary shaft passes through gearing Device and the first rotation axis connection, when first rotary shaft rotates, drive the rotation of the second rotary shaft；

At least one jacking seat is connected in second rotary shaft, the jacking seat when second rotary shaft rotates, Vertical up-or-down movement.

13. jacking apparatus according to claim 12, which is characterized in that the linkage includes interlocking lever and the company of gearing Plate, the both ends of the interlocking lever pass through two gearing connecting plates and first rotary shaft and the second rotation axis connection respectively.

14. jacking apparatus according to claim 12, which is characterized in that the linkage includes interlocking chain and sprocket, The sprocket wheel is fixed in first rotary shaft and the second rotary shaft respectively, the gearing chain is covered in two chains simultaneously On wheel.

15. jacking apparatus according to claim 2, which is characterized in that bearing is additionally provided in the guide cylinder, it is described to lead Column is connect by the bearing with the inside of the guide cylinder.

16. jacking apparatus according to claim 2, which is characterized in that further include being moved down on the jacking seat for detecting The detection device of dynamic displacement, the detection device include the grating bar being fixed on top plate, are fixed on the grating bar Lenticular lenses and the grating seat that is fixed on substrate, be provided with grating and lower grating on the grating seat, the lenticular lenses with The top plate moves up and down, described when the lenticular lenses reach the upper grating or the corresponding height and position of the lower grating Detection device detects a signal and the signal is fed back to controller, and controller controls driving mechanism according to the signal and stops It only works or moves round about.

17. a kind of automated guided vehicle, which is characterized in that including the described in any item jacking apparatus of claim 1-16 and peace Fill the chassis of the automated guided vehicle of the jacking apparatus.