CN212315423U

CN212315423U - Lifting device and automatic guided vehicle

Info

Publication number: CN212315423U
Application number: CN202020509648.2U
Authority: CN
Inventors: 杨立业
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2020-04-09
Filing date: 2020-04-09
Publication date: 2021-01-08
Anticipated expiration: 2030-04-09

Abstract

The present disclosure provides a lifting device and an automated guided vehicle, wherein the lifting device comprises: the bearing table is used for directly or indirectly bearing an object to be lifted; the connecting rod assembly is arranged below the bearing table and comprises a first connecting rod group, a second connecting rod group and a connecting rod; the upper end of the first connecting rod group is hinged with the bearing platform, and the lower end of the first connecting rod group is hinged with the connecting rod to form an upper parallelogram connecting rod mechanism; the upper end of the second connecting rod group is hinged with the connecting rod, and the lower end of the second connecting rod group is fixedly hinged to form a lower parallelogram connecting rod mechanism; and the driving mechanism can drive the connecting rod assembly to swing so as to enable the bearing table to ascend or descend, and is positioned outside the projection area of the bearing table in the vertical direction. Through the lifting device, the phenomenon that the bearing table interferes with the driving mechanism in the lifting or descending process to influence the lifting performance is avoided, more operation spaces are provided for the lifting of the lifting device, and the lifting height can be improved.

Description

Lifting device and automatic guided vehicle

Technical Field

The present invention relates generally to automated guided vehicles, and more particularly to a lifting device and automated guided vehicle.

Background

With the continuous progress of science and technology, Automated Guided Vehicles (AGVs) have been widely popularized and applied in the processes of transporting goods and materials in factories, warehouses and workshops. Moreover, the present invention plays an important role in improving the work efficiency.

The lifting mechanism is complex in overall structure and large in occupied space, and is not beneficial to miniaturization of the AGV; meanwhile, the arrangement of the power device affects the lifting performance of the lifting mechanism.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problems existing in the prior art, the utility model provides a lifting device and automatic guided vehicle.

According to a first aspect of embodiments of the present disclosure, there is provided a lifting device, wherein the lifting device comprises: the bearing table is used for directly or indirectly bearing an object to be lifted; the connecting rod assembly is arranged below the bearing table and comprises a first connecting rod group, a second connecting rod group and a connecting rod; the upper end of the first connecting rod group is hinged with the bearing platform, and the lower end of the first connecting rod group is hinged with the connecting rod to form an upper parallelogram connecting rod mechanism; the upper end of the second connecting rod group is hinged with the connecting rod, and the lower end of the second connecting rod group is fixedly hinged to form a lower parallelogram connecting rod mechanism; and the driving mechanism can drive the connecting rod assembly to swing so as to enable the bearing table to ascend or descend, and is positioned outside the projection area of the bearing table in the vertical direction.

In one embodiment, the first connecting rod group comprises a first upper swing arm and a second upper swing arm, the upper end of the first upper swing arm is hinged with the first end of the bearing table, and the upper end of the second upper swing arm is hinged with the second end of the bearing table; the second connecting rod group comprises a first lower swing arm and a second lower swing arm, the lower end of the first lower swing arm and the lower end of the second lower swing arm are fixedly hinged respectively, the upper end of the first lower swing arm is hinged with the lower end of the first upper swing arm through a first hinge shaft, and the upper end of the second lower swing arm is hinged with the lower end of the second upper swing arm through a second hinge shaft; the connecting rod is connected with the first upper swing arm and the first lower swing arm through a first hinge shaft and is hinged with the second upper swing arm and the second lower swing arm through a second hinge shaft; the driving mechanism is connected with the first upper swing arm and drives the connecting rod assembly to swing by driving the first upper swing arm.

In one embodiment, the connecting rod assembly further comprises a fixed arm, a first end of the fixed arm is fixedly connected with the first upper swing arm, and a second end of the fixed arm is hinged with the driving mechanism.

In one embodiment, the driving mechanism comprises a driving motor, a rocker and a mandril, one end of the rocker is in transmission connection with an output shaft of the driving motor, the other end of the rocker is hinged with one end of the mandril, and the other end of the mandril is hinged with the second end of the fixed arm.

In one embodiment, the bearing platform comprises two hinged arms oppositely arranged at the first end of the bearing platform, and the first upper swing arm is arranged between the two hinged arms and is respectively hinged with the two hinged arms.

In one embodiment, the first connecting rod group and the second connecting rod group are arranged into two groups, and the first upper swing arm of the first group and the first upper swing arm of the second group are integrally formed; the second upper swing arms of the first group are connected with the second upper swing arms of the second group through connecting rods.

In an embodiment, the lifting device further comprises a limiting mechanism, the limiting mechanism comprises a fixing seat and a limiting rod, the fixing seat is located on the first end side of the bearing table, one end of the limiting rod is hinged to the fixing seat, and the other end of the limiting rod is hinged to the second end of the bearing table

In one embodiment, the stop bar is divided into a first section and a second section, wherein the second section is located at a side of the carrier table and in an area between the first end of the carrier table and the second end of the carrier table, and an upper surface of the second section is lower than or flush with an upper surface of the carrier table.

In one embodiment, the first section is arranged obliquely, and the second section is arranged horizontally; one end of the first section is hinged to the fixing seat, the other end of the first section is connected with one end of the second section, and the other end of the second section is hinged to the second end of the bearing table.

According to a second aspect of the embodiments of the present disclosure, there is provided an automated guided vehicle, which includes the lifting device of the first aspect and any of the embodiments described above.

In one embodiment, the automated guided vehicle further comprises a chassis, wherein the chassis is an integrated chassis; or the chassis is a split chassis which comprises a first chassis and a second chassis which are hinged with each other; the lower end of a second connecting rod assembly of the lifting device is hinged with the chassis.

According to the lifting device and the automatic guided vehicle, the driving mechanism is arranged on the outer side of the projection area of the bearing table in the vertical direction, the bearing table is prevented from interfering with the driving mechanism in the lifting or descending process to influence the lifting performance in the layout mode, more operation space is provided for lifting of the lifting device, and therefore the lifting height can be improved.

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 present 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 shows a schematic structural diagram of a lifting device configured on a split chassis according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a lifting device provided by an embodiment of the present invention;

FIG. 3 shows a schematic cross-sectional view in the direction A-A of the lifting device of FIG. 2;

fig. 4 shows a schematic side view of a lifting device according to an embodiment of the present invention;

FIG. 5 is a simplified diagram illustrating the path of a stop lever of an embodiment of the present invention moving from a starting position to a raised position;

FIG. 6 is a schematic view of a connection structure of the chassis, the connecting rod assembly and the bearing platform according to 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 should be understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and thereby implement the present invention, and are not intended to limit the scope of the invention in any way.

It should be noted that although the terms "first", "second", etc. are used herein to describe various modules, steps, data, etc. of embodiments of the present invention, the terms "first", "second", etc. are used merely to distinguish between various 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 and the like of embodiments of the present invention, 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 finish the transportation of materials, so that the assembly and transportation efficiency of factories and storage is improved, and the labor cost is further reduced.

The AGV generally is provided with a lifting mechanism, and in the AGV lifting mechanism in the related technology, the component force of the force output by a power device in the lifting process in the vertical direction is small, the component force in the horizontal direction is large, and the lifting efficiency is influenced. In addition, a mechanism for resisting horizontal component force needs to be added on the chassis, so that the overall structure of the lifting mechanism is large, the occupied space is large, and the miniaturization of the AGV is not facilitated. In addition, the arrangement of the power device interferes with the bearing table, and the lifting performance of the lifting mechanism is influenced.

In order to solve the above problems, the present disclosure provides a lifting device, which can be applied to an automatic guided vehicle. As shown in fig. 1, the automated guided vehicle includes a chassis 10 and a lifting device 20. The lifting device 20 comprises a carrier table 21, a linkage assembly 22 and a drive mechanism 23.

As shown in fig. 1 and 2, a carrying platform 21 may be disposed above the chassis 10 for directly or indirectly carrying an object to be lifted. For example, the carrier 21 may directly carry the object to be lifted; alternatively, the carrier 21 may be connected to a carrier mechanism, through which the object to be lifted is indirectly carried. The bearing table 21 may be a plate-like structure or a frame structure.

The link assembly 22 may be disposed between the chassis 10 and the carrier table 21. The connecting rod assembly 22 comprises a first connecting rod group, a second connecting rod group and a connecting rod 223, the upper end of the first connecting rod group is hinged with the bearing platform 21, and the lower end of the first connecting rod group is hinged with the connecting rod 223 to form an upper parallelogram connecting rod mechanism; the upper end of the second linkage is hinged with the connecting rod 223, and the lower end is fixedly hinged to form a lower parallelogram linkage mechanism. In this embodiment, the lower end of the second linkage may be hinged to the chassis 10, the second linkage, the connecting rod 223 and the chassis 10 form a lower parallelogram linkage, and share the connecting rod 223 with an upper parallelogram linkage to form an upper and a lower connected parallelogram linkage, so as to conveniently perform vertical movement and reduce horizontal displacement.

The driving mechanism 23 can drive the link assembly 22 to swing to raise or lower the carrier table 21. The driving mechanism 23 may be disposed on the chassis 10 and located outside a projection area of the bearing table 21 in the vertical direction.

In the embodiment, the first link group, the second link group, the connecting rod 223, the platform 21 and the chassis 10 form two upper and lower connected parallelogram link mechanisms, and as can be seen from the characteristics of the parallelogram link mechanisms, the driving mechanism 23 drives the connecting rod assembly 22 to swing, and drives the two upper and lower parallelogram link mechanisms to link, so that the platform 21 rises or falls, and the lifting operation of the lifting device 20 is realized. By arranging the driving mechanism 23 outside the projection area of the bearing table 21 in the vertical direction, the arrangement mode can avoid interference between the driving mechanism 23 and the bearing table 23 in the ascending or descending process and influence on the lifting performance, thereby providing more operation space for lifting the lifting device 20 and improving the lifting height.

As shown in fig. 1 to 3, the first linkage set includes a first upper swing arm 221 and a second upper swing arm 224, wherein the upper end of the first upper swing arm 221 is hinged to the first end of the bearing platform 23, and the upper end of the second upper swing arm 224 is hinged to the second end of the bearing platform 23; the second linkage comprises a first lower swing arm 222 and a second lower swing arm 225, the lower end of the first lower swing arm 222 and the lower end of the second lower swing arm 225 are respectively and fixedly hinged, the upper end of the first lower swing arm 222 is hinged with the lower end of the first upper swing arm 221 through a first hinge shaft 31, and the upper end of the second lower swing arm 225 is hinged with the lower end of the second upper swing arm 224 through a second hinge shaft 32. In one embodiment, the lower ends of the first lower swing arms 222 and the second lower swing arms 225 are respectively hinged with the chassis 10. Thus, the first linkage, the second linkage, the connecting rod 223, the platform 23 and the chassis 10 form two upper and lower parallelogram linkages (as shown in fig. 6). The driving mechanism 23 is connected to the first upper swing arm 221, and drives the connecting rod assembly 22 to swing by driving the first upper swing arm 221, so as to raise or lower the carrier table 23.

Because, during the ascending and descending of the bearing platform 23, based on the ascending and descending of the upper and lower two parallelogram linkages, the horizontal displacement of the upper end part closer to the first upper swing arm 221 is smaller and the required horizontal component force is smaller compared with the single parallelogram linkage. In this embodiment, the driving mechanism 23 drives the connecting rod assembly 22 and the platform 21 to be linked by driving the first upper swing arm 221, so that the horizontal component force required in the ascending or descending process of the platform 21 is small. Therefore, the driving mechanism 23 of the present embodiment drives the connecting rod assembly 22 to swing by driving the first upper swing arm 221, and compared with the manner in which the driving mechanism drives the connecting rod assembly to move by driving the hinge shaft connected between the first upper swing arm and the first lower swing arm in the related art, during the process of ascending or descending the plummer 21, the horizontal displacement is small, so that the component force of the force output by the driving mechanism 23 in the horizontal direction is small, and the component force in the vertical direction is larger, thereby improving the lifting performance.

In one embodiment, as shown in fig. 3, the linkage assembly 22 further includes a fixed arm 226, a first end of the fixed arm 226 is fixedly connected to the first upper swing arm 221, and a second end of the fixed arm 226 is hinged to the driving mechanism 23. Wherein, the intersection point of the connection of the fixed arm 226 and the first upper swing arm 221 is hinged with the front end of the bearing table 21. The fixing arm 226 may be integrally formed with the first upper swing arm 221.

In one embodiment, as shown in fig. 2 and 3, the driving mechanism 23 includes a driving motor 231, a rocker 232, and a link 233. The drive motor 23 is fixed to the chassis 10 near the position of the fixing arm 226. One end of the rocker 232 is in transmission connection with an output shaft of the driving motor 231 through a speed reducer 234, the other end of the rocker 232 is hinged with one end of a connecting rod 233, and the other end of the connecting rod 233 is hinged with a second end of the fixing arm 226.

In this embodiment, the driving motor 231 transmits power to the rocker 232 through the speed reducer 234, so that the rocker 232 rotates, the rocker 232 drives the connecting rod 233 to swing the first upper swing arm 221 through the fixing arm 226, and the first upper swing arm 221 drives the first connecting rod set and the second connecting rod set to link with each other due to the limitation of the degree of freedom of the first upper swing arm 221, so that the plummer 21 ascends or descends, thereby achieving the lifting operation. The whole driving mechanism 23 is arranged outside the bearing table 21, and drives the whole connecting rod assembly 22 to link by driving the fixing arm 226 at the upper end of the first upper swing arm 221 to swing, so that most of force of the driving mechanism 23 acts on the vertical direction, and the lifting of the bearing table 21 is realized. The interference of the driving mechanism 23 with the bearing table 21 and the link mechanism is avoided, more operation space is provided for the lifting of the lifting device 20, and the lifting range and the lifting efficiency are improved.

In some embodiments, as shown in fig. 2, the carrier 21 includes two hinge arms 211 oppositely disposed at a first end of the carrier 21, and the first upper swing arm 221 is disposed between the two hinge arms 211 and is hinged to the two hinge arms 211 respectively. The hinge arms 211 may be two coupling ears protruding toward the first end of the carrier table 21. The area between the two hinge arms 211 forms an avoiding space of the first upper swing arm 221, so as to avoid the first upper swing arm 221 from interfering with the bearing platform 21 when swinging, and the lifting performance is not affected.

As shown in fig. 2 and 3, in order to further improve the lifting performance, the first link group, the second link group and the connecting rod 223 may be provided in two groups, and may be symmetrically disposed at two sides below the plummer 21. Wherein, because the first upper swing arm 221 is directly connected to the driving mechanism 23, the first upper swing arm 221 drives the whole connecting rod assembly 22 to move, and in order to ensure the strength of the first upper swing arm 221, the first upper swing arm 221 of the first group and the first upper swing arm (not shown) of the second group are integrally formed, so as to form the first upper swing arm 221 (as shown in fig. 2) with a certain section length, and hinged to the first end of the plummer 21. The second upper swing arm 224 of the first group and the second upper swing arm 224' of the second group are hinged at two sides of the second end of the bearing platform 21 through a fourth hinge shaft 34. Wherein, the second upper swing arm 224 of the first group and the second upper swing arm 224' of the second group are connected by a connecting rod 227. The connecting rod 227 may be integrally formed with the first set of second upper swing arms 224 and the first set of second upper swing arms 224'. The first lower swing arm 222 of the first group and the first lower swing arm 222' of the second group are hinged at both sides of the first upper swing arm 221 by the first hinge shaft 31. The first group second lower swing arm 225 and the second group second lower swing arm 225 'are respectively hinged at the outer sides of the first group second upper swing arm 224 and the second group upper swing arm 224' by the second hinge shaft 32.

The first group of connecting rods 223 are connected to one sides of the first and

second hinge shafts

31 and 32, and the second group of connecting rods 223' are connected to the other sides of the first and

second hinge shafts

31 and 32.

In some embodiments, the lifting device 200 further includes a limiting mechanism, the limiting mechanism includes a fixing seat 41 and a limiting rod 42, the fixing seat 41 is located at a first end side of the bearing platform 21, one end of the limiting rod 42 is hinged to the fixing seat 41 through a third hinge shaft 33, and the other end of the limiting rod 42 is hinged to a second end of the bearing platform 21 through a fourth hinge shaft 34. The holder 41 may be provided on the chassis 10.

In this embodiment, in the lifting process of the lifting apparatus 200, the driving motor 231 rotates to drive the first connecting arm 221 to move, the first connecting arm 221 drives the whole connecting rod assembly 22 to move, at this time, the fourth hinge shaft 34 takes the third hinge shaft 33 as a center of a circle, and takes the distance R between the third hinge shaft 33 and the fourth hinge shaft 34 as a radius to perform an arc motion, that is, the carrier table 21 performs an arc motion upward. It can be understood that the movement locus of the fourth hinge shaft 34 has a start position H1 and a lifted position H2 (shown in fig. 5). Alternatively, the distance in the vertical direction between the starting position H1 and the raised H2 position of the fourth hinge shaft 34 is half the lift distance (as shown in fig. 5), when the horizontal displacement of the carrier table 21 between the starting position H1 and the raised H2 position is minimal. In practical application, the lifting height of the AGV is usually between 40mm and 60mm, the distance between the third hinge shaft 33 and the fourth hinge shaft 34 is far greater than 40mm to 60mm, and the displacement of the bearing platform 21 in the horizontal direction is very small, usually only between 1mm and 2mm, during the lifting process. The limiting rod 42 mainly plays a role in limiting the ascending or descending of the bearing platform 21, and can limit the displacement of the bearing platform 21 in the horizontal direction. Because the horizontal displacement has little influence on the lifting process of the lifting device, the component force in the horizontal direction is also little, the vertical component force is great, and the lifting efficiency is effectively improved.

In one embodiment, as shown in fig. 2 and 4, the limiting rod 42 is divided into a first section 421 and a second section 422, wherein the second section 422 is located at the side of the carrier table 21 and in the area between the first end of the carrier table 21 and the second end of the carrier table 21, and the upper surface of the second section 422 is lower than or flush with the upper surface of the carrier table 21. The interference between the limiting rod 42 and the bearing platform 21 in the lifting process is avoided, and the lifting of the load on the bearing platform 21 is prevented from being influenced. Specifically, the first segment 421 of the limiting rod 42 is obliquely arranged and may be an arc-shaped rod. The second section of the stop lever 42 is horizontally disposed and may be a straight lever. One end of the first segment 421 is hinged to the fixing seat 41 through a third hinge shaft 33, the other end of the first segment 421 is connected to one end of the second segment 422, and the other end of the second segment 422 is hinged to the second end of the bearing table 21 through a fourth hinge shaft 34. Alternatively, the first segment 421 and the second segment 422 may be integrally formed.

In this embodiment, the upper surface of the second segment 422 is set to be lower than or flush with the upper surface of the carrier table 21, so that the carrier table 21 can be always located above the first segment 421 of the limiting rod 42 in the ascending or descending process, thereby avoiding interference with the limiting rod 42.

Based on the same concept, as shown in fig. 1, the present disclosure also provides an automated guided vehicle 100, where the automated guided vehicle 100 includes the lifting device 200 according to any of the embodiments described above. The lifting efficiency can be improved by arranging the lifting device 200, and the lifting device 200 occupies a small space and is beneficial to the miniaturization of the automatic guided vehicle 100.

In some embodiments, as shown in fig. 1, the automated guided vehicle 100 further comprises a chassis 10, the chassis 10 being an integral chassis, or the chassis 10 being a split chassis. The split chassis comprises a first chassis 11 and a second chassis 12 which are hinged with each other, and the lower end of the second linkage of the lifting device 200 can be hinged with the chassis. Wherein, in some embodiments, the lower end of the first lower swing arm 222 is hinged with the first chassis 11, and the lower end of the second lower swing arm 225 is hinged with the second chassis 12. The lifting device 200 can be adapted to an integrated chassis and a split chassis, and has good adaptability and universality. When the chassis 10 is a split chassis, the stability of the lifting device 200 during traveling can be improved.

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

1. A lifting device, wherein the lifting device comprises:

the bearing table is used for directly or indirectly bearing an object to be lifted;

the connecting rod assembly is arranged below the bearing table and comprises a first connecting rod group, a second connecting rod group and a connecting rod; the upper end of the first connecting rod group is hinged with the bearing platform, and the lower end of the first connecting rod group is hinged with the connecting rod to form an upper parallelogram connecting rod mechanism; the upper end of the second connecting rod group is hinged with the connecting rod, and the lower end of the second connecting rod group is fixedly hinged to form a lower parallelogram connecting rod mechanism;

and the driving mechanism can drive the connecting rod assembly to swing so as to enable the bearing table to ascend or descend, and is positioned outside a projection area of the bearing table in the vertical direction.

2. The lifting device of claim 1, wherein the first linkage set comprises a first upper swing arm and a second upper swing arm, the upper end of the first upper swing arm is hinged with the first end of the bearing platform, and the upper end of the second upper swing arm is hinged with the second end of the bearing platform;

the second connecting rod group comprises a first lower swing arm and a second lower swing arm, the lower end of the first lower swing arm and the lower end of the second lower swing arm are fixedly hinged respectively, the upper end of the first lower swing arm is hinged with the lower end of the first upper swing arm through a first hinge shaft, and the upper end of the second lower swing arm is hinged with the lower end of the second upper swing arm through a second hinge shaft;

the connecting rod is connected with the first upper swing arm and the first lower swing arm through the first hinge shaft in a hinged mode, and is connected with the second upper swing arm and the second lower swing arm through the second hinge shaft in a hinged mode;

the driving mechanism is connected with the first upper swing arm and drives the connecting rod assembly to swing by driving the first upper swing arm.

3. The lifting device of claim 2, wherein the linkage assembly further comprises a fixed arm, a first end of the fixed arm is fixedly connected to the first upper swing arm, and a second end of the fixed arm is hinged to the driving mechanism.

4. The lifting device according to claim 3, wherein the driving mechanism comprises a driving motor, a rocker and a top rod, one end of the rocker is in transmission connection with an output shaft of the driving motor, the other end of the rocker is hinged with one end of the top rod, and the other end of the top rod is hinged with the second end of the fixed arm.

5. A lifting device according to claim 3, wherein the carrier stage comprises two hinge arms oppositely arranged at a first end of the carrier stage, and the first upper swing arm is arranged between the two hinge arms and is hinged to the two hinge arms respectively.

6. The lifting device as claimed in claim 2, wherein the first linkage and the second linkage are provided in two sets, and the first upper swing arm of the first set and the first upper swing arm of the second set are integrally formed; the second upper swing arms of the first group are connected with the second upper swing arms of the second group through connecting rods.

7. The lifting device according to claim 1, further comprising a limiting mechanism, wherein the limiting mechanism comprises a fixing seat and a limiting rod, the fixing seat is located on the side of the first end of the bearing platform, one end of the limiting rod is hinged to the fixing seat, and the other end of the limiting rod is hinged to the second end of the bearing platform.

8. The lift device of claim 7, wherein the restraint bar is divided into a first section and a second section, wherein the second section is located to the side of the carrier table in the area between the first end of the carrier table and the second end of the carrier table, and wherein the upper surface of the second section is lower than or flush with the upper surface of the carrier table.

9. A lifting device according to claim 8, wherein the first section is arranged obliquely and the second section is arranged horizontally;

one end of the first section is hinged to the fixing seat, the other end of the first section is connected with one end of the second section, and the other end of the second section is hinged to the second end of the bearing table.

10. Automated guided vehicle, wherein the automated guided vehicle comprises a lifting device according to any one of claims 1 to 9.

11. The automated guided vehicle of claim 10, wherein the automated guided vehicle further comprises a chassis, the chassis being a one-piece chassis; or the chassis is a split chassis which comprises a first chassis and a second chassis which are hinged with each other;

the lower end of the second connecting rod group of the lifting device is hinged with the chassis.