CN214243633U

CN214243633U - Lifting mechanism moving from middle to upper and lower ends and AGV trolley

Info

Publication number: CN214243633U
Application number: CN202023160876.2U
Authority: CN
Inventors: 李方安; 李特
Original assignee: Shenzhen Casun Intelligent Robot Co ltd
Current assignee: Suzhou Jiashun Intelligent Robot Co ltd
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-09-21
Anticipated expiration: 2030-12-23

Abstract

The utility model discloses a lifting mechanism and AGV dolly that move from middle to upper and lower both ends, lifting mechanism includes frame and rocker lifting unit, and rocker lifting unit includes actuating mechanism, rocker mechanism, lifts mechanism and lower supporting mechanism, rocker mechanism includes first rocker and second rocker, and the head end of first rocker and second rocker is connected and the reverse rotation by actuating mechanism drive for the end of first rocker opens or draws in relative to the end of second rocker; the tail end of the first rocker is connected with a lifting mechanism, and the lifting mechanism is pushed to rise upwards or return; the tail end of the second rocker is connected with the lower support mechanism, the lower support mechanism is pushed to descend or return, and the whole rocker lifting unit can lift relative to the rack. The utility model discloses a lifting structure can stretch out from middle to upper and lower both ends for the higher height can nevertheless be lifted to the not high lifting mechanism of folded state height, is applicable to and installs and go into highly restricted space on the AGV dolly of super low automobile body and load and unload the operation.

Description

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

Technical Field

The utility model relates to a AGV intelligence floor truck technical field especially relates to a by middle AGV dolly of automobile battery is changed to lifting mechanism and intelligence of both ends motion from top to bottom.

Background

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

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

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

Therefore, the prior art has yet to be improved.

SUMMERY OF THE UTILITY MODEL

In view of the foregoing prior art's weak point, the utility model aims to provide a by middle lifting mechanism to upper and lower both ends motion aims at making lifting structure can stretch out from middle to upper and lower both ends for draw in the higher height that lifting mechanism that the back height is not high but can lift, be applicable to and install in the middle of the AGV dolly of super low automobile body, load and unload the operation in order to get into the high limited space.

In order to achieve the purpose, the utility model adopts the following technical proposal:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

The utility model also provides an AGV dolly of car battery is changed to intelligence, including the automobile body, intelligent control unit, and drive wheel mechanism, wherein, still include the aforesaid by the middle lifting mechanism of middle to both ends motion from top to bottom to and location release mechanism, lifting mechanism, location release mechanism set up on the automobile body, and intelligent control unit control drive wheel mechanism, location release mechanism, lifting mechanism carry out the motion of automobile body, the location of car battery, unblock and lifting mechanism's lift.

The utility model discloses a by the middle lifting mechanism of both ends motion from top to bottom, through set up rocker mechanism in the frame, rocker mechanism's first rocker and second rocker antiport and open or draw in, open action drive lifting mechanism and lower supporting mechanism upwards lift respectively from the centre and descend downwards, upwards lift and be used for holding up the goods, descend downwards and be used for propping subaerial. Because the utility model discloses a lifting mechanism can link and stretch out to upper and lower both ends, like this, can with the utility model discloses a lifting mechanism is done lowerly, and can lift higher height, works as the utility model discloses a lifting mechanism when installing on the AGV dolly, can be with the whole lift off ground of AGV dolly, the operation of lifting of the limited scene in specially adapted space enables the AGV dolly of ultralow automobile body and satisfies the high demand of lifting.

Drawings

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

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

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

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

fig. 4 is a schematic view of the lifting mechanism in an initial state;

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

fig. 6 is a schematic view of the lifting mechanism of the present invention in a state where the frame is supported;

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

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

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

fig. 10 is a schematic view of the lifting mechanism of the present invention ascending to the middle position;

FIG. 11 is a schematic diagram of the AGV structure of the present invention;

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

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

Description of reference numerals:

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

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

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

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "connected" may be a fixed connection or a removable connection, or may be integral therewith; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

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

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

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

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

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

The end of first rocker 41, the end of second rocker 41, lift mechanism 5, prop mechanism 6 down one of them and frame 1 liftable be connected and make whole rocker 2 units frame 1 liftable relatively, whole rocker 2 is more than first rocker 41 like this, lift mechanism 5, second rocker 42, prop mechanism 6 down and go up and down, actuating mechanism 3 also goes up and down, and actuating mechanism 3 is followed unsteadily, for the fixed structural design of actuating mechanism 3 like this, the utility model discloses a can expand to maximum height between prop mechanism 6 and the actuating mechanism 3.

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

When the driving mechanism 3 acts, the first rocker 41 and the second rocker 42 are driven to rotate in opposite directions, so that the first rocker 41 and the second rocker 42 respectively drive the lifting mechanism 5 and the lower support mechanism 6 to move in opposite directions, and if the lifting mechanism 5 moves upwards and the lower support mechanism 6 moves downwards, the whole lifting mechanism 100 is opened; and the lifting structure 5 moves downwards and simultaneously the lower support mechanism 6 moves upwards, so that the whole lifting mechanism 100 is folded. This makes the utility model discloses a lifting mechanism 100 realizes the function that stretches out from middle to upper and lower both ends, for the one-way function of lifting among the prior art, the utility model discloses a lifting mechanism 100 can realize the higher function of lifting height under the prerequisite of less size structure, can use on the AGV dolly of ultralow automobile body, is suitable for and loads and unloads the operation in the space of highly restricted.

The utility model discloses a frame 1 includes that left frame 12 and right frame 11 are located respectively and lift the mechanism 5 outer side of controlling.

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

If it is not enough to lift the height, actuating mechanism 3 continues to work and drives second rocker 42 and continue to rotate downwards, props mechanism 6 down in the effect of ground reaction force and descends right frame 11 jack-up to will lift off from ground with right frame 11 fixed connection's AGV dolly automobile body, realize the utility model discloses the lifting of lifting structure maximum height, as shown in fig. 6.

From drawing in of fig. 4 to the complete state of opening of fig. 6, the utility model discloses a lifting mechanism is by middle to upper and lower both ends stretch out the motion, like this for the lifting mechanism of single lifting direction in the prior art, like to lift 20 cm's height among the prior art, lifting mechanism need upwards stretch out 20cm from the position of lower extreme 0, and the utility model discloses to lift 20cm high, only respectively stretch out 10cm under the intermediate position can, one-way 20 cm's structure of stretching out will be greater than the space that respectively stretches out 10cm structure occupy from top to bottom, and highly high, so the one-way lifting mechanism of prior art is not applicable to ultralow AGV dolly, because its lifting mechanism self highly all has been higher than the height of AGV dolly, and is unsuitable for operations such as changing the battery under the chassis of highly restricted space like domestic electric automobile. And the utility model discloses then be particularly suitable for being used in the AGV dolly of ultralow automobile body and carry out the space of highly being restricted and carry out the operation.

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

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

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

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

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

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

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

Further, the utility model discloses a still be provided with right guide block 75 between the right outside of U-shaped bracket 51 and the right frame 11, the two-sided guide way that all has of right guide block 75, be connected between right guide block 75 and the right frame 11 have right uide pin axle 76, first round pin axle 71 passes the right side of U-shaped bracket 51 and packs into in the guide way that right guide block 75 is relative with right frame 11, first round pin axle 71 and right uide pin axle 76 all slide in the guide way of right guide block 75.

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

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

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

Further, the utility model discloses a connecting rod 63 and connecting block 62 are floated and are connected, still are provided with spring 64 and travel switch 65 on the mechanism 6 of pushing down between propping ground piece 61 and connecting block 62, and spring 64 and travel switch 65 and the mode of floating the connection make the mechanism 6 of pushing down can carry on spacingly to the stroke of lifting, avoid destructive lifting and damage whole lifting mechanism 100.

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

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

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

Specifically, the first scissor fork balancing mechanism 8a and the second scissor fork balancing mechanism 8b each include a

rotating rod

81,82 rotatably connected to the middle, one end of each of the two

rotating rods

81,82 is rotatably connected to the U-shaped bracket 51 and the frame 1, and the other end of each of the two

rotating rods

81,82 is slidably connected to the U-shaped bracket 51 and the frame 1. As shown in fig. 10, the right outer side of the U-shaped bracket 51 is provided with a first slide groove 511, and the inner side of the right frame 12 is provided with a second slide groove 111 slidably connected to the

rotating levers

81,82 on the side, respectively; the left outer side of the U-shaped bracket 51 is provided with a third sliding slot 512, and the inner side of the left frame 12 is provided with a fourth sliding slot 121 which is respectively connected with the

rotating rods

81 and 82 on the side in a sliding manner.

As shown in fig. 11 to 13, the utility model also provides an AGV dolly 600 of car battery is changed to intelligence, including automobile body 200, intelligent control unit 300 and drive wheel mechanism 400, still include foretell by middle lifting mechanism 100 to the upper and lower both ends motion to and location release mechanism 500, lifting mechanism 100, location release mechanism 500 set up on automobile body 200, and intelligent control unit 300 controls drive wheel mechanism 400, location release mechanism 500, lifting mechanism 100 and carries out the motion of automobile body 200, the location of car battery, unblock and lifting mechanism 100's lift. After the AGV trolley 600 approaches the position close to the battery of the electric automobile through intelligent navigation, the positioning unlocking mechanism 500 is further accurately positioned and aligned with the battery, then the AGV trolley is lifted to the bottom of the battery to drag the battery, the battery is completely dropped onto the lifting mechanism 100 after the battery is unlocked through the positioning unlocking mechanism 500, and then the lifting mechanism descends the battery to be transported away. A similar process is repeated for loading the battery.

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

The embodiment of the utility model provides a by middle lifting mechanism 100 and AGV dolly 600 of both ends motion from top to bottom, through set up rocker mechanism 4 in frame 1, rocker mechanism 4's first rocker 41 and second rocker 42 antiport and open or draw in, open action drive is lifted mechanism 5 and lower supporting mechanism 6 and is upwards lifted and descend downwards from the centre respectively, upwards lifts and is used for holding up the goods, descends downwards and is used for propping subaerial. Because the utility model discloses a lifting mechanism 100 can link and stretch out to upper and lower both ends, like this, can with the utility model discloses a lifting mechanism 100 is done lowerly, and can lift higher height, works as the utility model discloses a when lifting mechanism 100 installs on AGV dolly 600, can prop AGV dolly 600 whole from ground, the AGV dolly 600 that is applicable to very much the ultralow automobile body lifts the operation in high restricted space.

The above only for the purpose of clearly illustrating the examples of the present invention, not limiting the scope of the present invention, can't be exhausted to all the embodiments, all the concepts of the present invention, utilize the equivalent structure transformation of the content of the technical solution of the present invention, or directly/indirectly use in other related technical fields and are all included in the protection scope of the present invention.

Claims

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

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

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

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

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

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

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

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

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

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