CN215946620U - Lifting mechanism and automatic guided vehicle - Google Patents

Abstract

The present disclosure provides a lifting mechanism and an automated guided vehicle. The lifting mechanism comprises a power part and a lifting part in driving connection with the power part. The lifting part comprises a lifting platform, the power part is configured to drive the lifting part to move so as to realize lifting of the lifting platform, and the power part comprises: a drive device; the speed reducer is in driving connection with the driving device; the transmission mechanism is in driving connection with the speed reducer; the transmission shaft is in driving connection with the transmission mechanism, and the lifting part is in driving connection with the transmission shaft; and the shaft support assembly is supported on the transmission shaft. The lifting mechanism and the automatic guided vehicle can reduce the damage of the speed reducer due to the bearing of larger radial force and prolong the service life of the speed reducer.

Description

Lifting mechanism and automatic guided vehicle

Technical Field

The disclosure relates to the field of logistics storage, in particular to a lifting mechanism and an automatic guided vehicle.

Background

In the logistics storage industry, Automated Guided Vehicles (AGVs) are used to transport goods. When the automatic guided vehicle transports goods, the goods need to be lifted to a certain height, and then the goods are moved to a designated position.

The lifting of the goods can be realized by adopting a hollow screw lifting mechanism. However, the hollow screw lifting mechanism is complex in structure, high in cost and not easy to maintain. The goods can be lifted by adopting a large reduction ratio speed reducer and a lifting mechanism in a crank rocker driving mode.

It is important to note here that the statements in this background section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

SUMMERY OF THE UTILITY MODEL

The invention aims to provide a lifting mechanism and an automatic guided vehicle, and aims to prolong the service life of a speed reducer.

The first aspect of the present disclosure provides a lifting mechanism, including power portion and with the portion of lifting that power portion drive is connected, the portion of lifting includes the elevating platform, power portion is configured to drive the portion of lifting action is in order to realize the elevating platform goes up and down, power portion includes:

a drive device;

the speed reducer is in driving connection with the driving device;

the transmission mechanism is in driving connection with the speed reducer;

the transmission shaft is in driving connection with the transmission mechanism, and the lifting part is in driving connection with the transmission shaft; and

a shaft support assembly on which the drive shaft is supported.

In some embodiments, the transmission is a gear transmission comprising:

the first gear is connected with an output shaft of the speed reducer to rotate under the driving of the output shaft; and

and the second gear is meshed with the first gear and is connected with the transmission shaft so as to drive the transmission shaft to rotate.

In some embodiments, the shaft support assembly comprises at least two shaft supports distributed along an axial direction of the drive shaft.

In some embodiments, the shaft support comprises:

a bearing on which the transmission shaft is rotatably supported;

the shaft seat is supported by the bearing; and

the gland is arranged on the shaft seat, and the gland and the shaft seat are encircled to form an accommodating space for accommodating the bearing.

In some embodiments, the power section further comprises a base on which the drive device, the reducer, the transmission mechanism, the drive shaft, and the shaft support assembly are mounted.

In some embodiments, further comprising:

the crank is connected to the transmission shaft and driven by the transmission shaft to rotate; and

the first end of the rocker is rotatably connected to the crank, and the second end of the rocker is hinged to the lifting part.

In some embodiments, the lifting mechanism includes two cranks spaced apart at different positions in the axial direction of the transmission shaft and two rockers corresponding to the two cranks.

In some embodiments, the rocker is located on the outer side of the crank along the transmission shaft, and the crank is configured to rotate in one direction under the driving of the transmission shaft to drive the rocker to rotate and the lifting part to act so as to lift the lifting platform.

In some embodiments, the power section and the lifting section are mounted to the base plate.

In some embodiments, the lifting portion comprises a linkage arrangement comprising:

a base;

the first hinge shaft, the second hinge shaft, the third hinge shaft and the fourth hinge shaft are arranged on the base;

the lower end of the first connecting rod is hinged with the base;

the second connecting rod is positioned above the first connecting rod, and the lower end of the second connecting rod and the upper end of the first connecting rod are hinged to the first hinge shaft;

the third connecting rod is arranged in parallel with the first connecting rod, and the lower end of the third connecting rod is hinged with the base;

the fourth connecting rod is positioned above the third connecting rod, and the lower end of the fourth connecting rod and the upper end of the third connecting rod are hinged to the second hinge shaft;

a first end of the pull rod is hinged with the first hinge shaft, and a second end of the pull rod is hinged with the second hinge shaft;

the first end of the lifting platform and the upper end of the second connecting rod are hinged to the third hinge shaft, and the second end of the lifting platform and the upper end of the fourth connecting rod are hinged to the fourth hinge shaft; and

the limiting rod is located above the pull rod, the first end of the limiting rod is hinged to the third hinge shaft, and the second end of the limiting rod is hinged to the base.

In some embodiments, the hinge point of the pull rod is spaced laterally inward of the hinge point of the stop lever to avoid interference.

In some embodiments, the lifting mechanism further comprises:

the crank is connected to the transmission shaft and driven by the transmission shaft to rotate; and

and the first end of the rocker is rotatably connected to the crank, and the second end of the rocker is hinged with the fourth hinge shaft.

In some embodiments, the lifting portion comprises:

the lifting platform;

the sliding block is in driving connection with the transmission shaft, and the lifting platform is connected with the sliding block; and

the guide rail is arranged on the guide rail in a sliding mode, and the sliding block slides along the guide rail under the driving of the transmission shaft so as to achieve lifting of the lifting platform.

A second aspect of the present disclosure provides an automated guided vehicle comprising the lifting mechanism of the first aspect of the present disclosure.

Based on this lifting mechanism and automated guided vehicle that this disclosure provided, owing to set up drive mechanism and transmission shaft and the axle support subassembly that supports the transmission shaft in power portion, the effort that the power portion is reacted to in the lifting portion is mostly born by transmission shaft and axle support subassembly, consequently, the speed reducer only basically bears the effort that the output torque need bear, and can not bear too big radial force because of the action of lifting portion and load-bearing thing to the damage that the speed reducer received because of bearing great radial force can be reduced, the life of speed reducer is improved.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:

fig. 1 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present disclosure when a lifting platform is in a lower limit position.

Fig. 2 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present disclosure when a lifting platform is in an upper limit position.

Fig. 3 is a structural schematic diagram of one direction of a combined structure of a power part and a crank of the lifting mechanism of the embodiment shown in fig. 1.

Fig. 4 is a schematic structural view of the other direction of the combined structure of the power part and the crank of the lifting mechanism of the embodiment shown in fig. 1.

Fig. 5 is an exploded view of a part of the combined structure of the power section and the crank of the lifting mechanism of the embodiment shown in fig. 1.

Fig. 6 is a schematic structural diagram of a combined structure of a transmission shaft, a second gear and a crank of a power part of the lifting mechanism of the embodiment shown in fig. 1.

Fig. 7 is a schematic structural view of a link structure in the lifting mechanism of fig. 1.

Fig. 8 is a schematic view of another angle of the link structure shown in fig. 1.

Fig. 9 is a schematic structural view of a limiting rod of the connecting rod structure in fig. 7.

Fig. 10 is a schematic view of the structure of a drawbar of the link structure of fig. 7.

Fig. 11 is a schematic structural view of a first link of the link structure of fig. 7.

Fig. 12 is a schematic structural view of the second base in fig. 7.

Fig. 13 is a schematic diagram of a combined structure of a transmission mechanism of a power part of a lifting mechanism and a guide rail slider assembly of the lifting part according to another embodiment of the disclosure.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present disclosure, it should be understood that the terms "first", "second", etc. are used to define the components, and are used only for convenience of distinguishing the corresponding components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present disclosure.

In the description of the present disclosure, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are presented only for the convenience of describing and simplifying the disclosure, and in the absence of a contrary indication, these directional terms are not intended to indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the disclosure; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

In the process of implementing the present disclosure, the inventor finds that when the lifting mechanism adopting a speed reducer and crank rocker driving mode is used for lifting the goods, the output shaft of the speed reducer directly drives the crank, so that the output shaft of the speed reducer bears a large radial force when the lifting platform of the lifting part is at the limit position, and the speed reducer is very easy to damage.

As shown in fig. 1 to 13, to solve the technical problem that a speed reducer is very easily damaged in the related art, an embodiment of the present disclosure provides a lifting mechanism and an automated guided vehicle having the same. The lifting mechanism comprises a power part 1 and a lifting part which is in driving connection with the power part 1. The lifting part comprises a lifting platform 41, and the power part 1 is configured to drive the lifting part to move so as to realize the lifting of the lifting platform 41.

As shown in fig. 1 to 6, the power unit 1 includes a drive device 11, a speed reducer 12, a transmission mechanism, a transmission shaft 15, and a shaft support assembly 16. The speed reducer 12 is drivingly connected to the drive device 11. The transmission mechanism is in driving connection with the speed reducer 12. The transmission shaft 15 is in driving connection with the transmission mechanism, and the lifting part is in driving connection with the transmission shaft 15. The drive shaft 15 is supported on a shaft support assembly 16.

According to the lifting mechanism of the embodiment of the disclosure, the transmission mechanism, the transmission shaft 15 and the shaft support assembly 16 supporting the transmission shaft 15 are arranged in the power part 1, and most of the acting force of the lifting part reacting on the power part 1 is borne by the transmission shaft 15 and the shaft support assembly 16, so that the speed reducer 12 basically bears only the acting force required to bear the output torque, and does not bear excessive radial force due to the action of the lifting part and bearing objects, thereby reducing the damage of the speed reducer 12 caused by bearing large radial force and prolonging the service life of the speed reducer 12.

As shown in fig. 1-5, 13, in some embodiments, the lifting mechanism includes a crank 2 and a rocker 3. The crank 2 is connected to the drive shaft 15 to be rotated by the drive shaft 15. The first end of the rocker 3 is rotatably connected to the crank 2, and the second end of the rocker 3 is hinged with the lifting part.

The embodiment of the disclosure also provides an automatic guided vehicle and a lifting mechanism. The automatic guided vehicle has the advantages of the lifting mechanism of the embodiment of the disclosure.

The lifting mechanism and the automated guided vehicle according to the embodiment of the present disclosure are further described below with reference to fig. 1 to 13. In the following description, the direction indicated by X in fig. 1 is taken as the longitudinal direction, and the direction indicated by Y is taken as the lateral direction.

As shown in fig. 1 and 2, the lifting mechanism of the present embodiment includes a power section 1, a crank 2, a rocker 3, and a link structure 4. The power part 1 drives the crank 2 to rotate, the crank 2 drives the rocker 3 to rotate, the second end of the rocker 3 is hinged with the connecting rod structure 4, and then the lifting platform 41 of the connecting rod structure 4 is driven to lift in the vertical direction.

As shown in fig. 1, the driving device 11 of the lifting mechanism may be a rotating motor. The rotating motor is arranged side by side with the speed reducer 12, and the rotating motor drives the output shaft of the speed reducer 12 to rotate.

As shown in fig. 1-6, in some embodiments, the transmission is a gear transmission. The gear transmission mechanism includes, for example, a first gear 13 and a second gear 14. The first gear 13 is connected to an output shaft of the speed reducer 12 to be rotated by the output shaft. The second gear 14 is engaged with the first gear 13 and connected with the transmission shaft 15 to drive the transmission shaft 15 to rotate.

The transmission mechanism is a gear transmission mechanism, if the first gear 13 and the second gear 14 are arranged as the transmission mechanism, the number of transmission parts is small, the transmission is stable and easy to set, and the reduction of the radial force borne by the speed reducer 12 is facilitated, so that the service life of the speed reducer 12 is prolonged. The specific implementation form of the transmission mechanism and the gear transmission mechanism can be set according to the arrangement requirement, for example, intermediate gears with proper quantity or size can be set, the included angle between the gears can be properly set, and the like.

In the embodiment shown in fig. 1 to 12, the first gear 13 is fixedly connected to the output shaft of the speed reducer 12; the transmission shaft 15 is arranged in parallel with an output shaft of the speed reducer 12; the second gear 14 is fixedly connected to the transmission shaft 15; the second gear 14 is located in the axial middle of the drive shaft 15.

As shown in fig. 1-5, in some embodiments, power section 1 further includes a base 19. The driving device 11, the speed reducer 12, the transmission mechanism, the transmission shaft 15 and the shaft support assembly 16 are all mounted on a base 19. The power part 1 can be integrated on the base 19 by the arrangement, so that the positioning, the assembly, the debugging and the maintenance of each part of the power part 1 are facilitated.

The drive shaft 15 is supported on a shaft support assembly 16. In some embodiments, the shaft support assembly 16 includes at least two shaft supports distributed along the axial direction of the drive shaft 15. As shown in fig. 1 to 5, the shaft support assembly 16 includes two shaft support portions distributed in the axial direction of the drive shaft 15.

The arrangement of more than two shaft supporting parts can enable the shaft supporting assembly 16 to bear larger radial force, can better prevent the output shaft of the speed reducer 12 from bearing excessive radial force, and is beneficial to preventing the speed reducer 12 from being damaged; in addition, the stress of the transmission shaft 15 can be more reasonable.

As shown in fig. 1 to 5, the second gear 14 is located between the two shaft support portions. In this arrangement, the transmission shaft 15 and the shaft support assembly 16 are stressed more uniformly and reasonably.

As shown in fig. 1-5, in some embodiments, the shaft support includes a bearing 161, a shaft seat 162, and a gland 163. The drive shaft 15 is rotatably supported on the bearing 161. The bearing 161 is supported on a shaft seat 162. The gland 163 is installed on the shaft seat 162, and the gland 163 and the shaft seat 162 enclose a receiving space for receiving the bearing 161. The bearing 161 is, for example, a slide bearing, a rolling bearing, or the like.

The two shaft seats 162 are fixedly mounted on the base 19 of the power unit 1 at intervals by bolts. The pressing cover 163 is connected to the corresponding shaft seat 162 by bolts, and the corresponding bearing 161 is installed in the receiving space formed by the pressing cover 163 and the shaft seat 162.

In the embodiment shown in fig. 1 to 12, the bearing 161 is a sleeve fitted around the outer periphery of the shaft end of the transmission shaft 15. As shown in fig. 5, the shaft seat 162 and the gland 163 both have a semi-cylindrical mounting groove matching with the outer diameter of the shaft sleeve, and after the shaft seat 162 and the gland 163 are assembled, the two semi-cylindrical mounting grooves form a complete cylindrical receiving space, and the shaft sleeve is mounted in the receiving space.

As shown in fig. 1 to 5, in some embodiments, the lifting mechanism includes two cranks 2 spaced apart at different positions in the axial direction of the transmission shaft 15 and two rockers 3 corresponding to the two cranks 2.

Set up two sets of crank rocker subassembly, can play better supporting role to elevating platform 41, improve elevating platform 41's stability. The transmission shaft 15 and the second gear 14 on the transmission shaft are stressed uniformly, the reaction force to the first gear 13 is reduced, and the service life of the speed reducer 12 is prolonged.

As shown in fig. 1 to 5, in some embodiments, the rocker 3 is located on the outer side (laterally outer side) of the crank 2 along the transmission shaft 15, and the crank 2 is configured to rotate in one direction under the driving of the transmission shaft 15 to drive the rocker 3 to rotate and the lifting part to act to lift the lifting platform 41.

The rocker 3 is hinged on the transverse outer side of the crank 2, so that the crank 2 can rotate without being interfered by the rocker 3, and the crank 2 can rotate 360 degrees around the rotation center of the crank. The arrangement enables each movable part of the power part 1 to realize the reciprocating lifting motion of the lifting platform 41 without reciprocating motion, and is beneficial to reducing the impact on each movable part, especially the speed reducer 12, at the limit position of the lifting platform 41, thereby reducing the fatigue damage of each movable part caused by the reciprocating motion.

As shown in fig. 1 and 2, in some embodiments, the lifting mechanism further comprises a base plate 5, and the power part 1 and the lifting part are both mounted on the base plate 5. This arrangement facilitates positioning, assembly, debugging and maintenance of the components in the lifting mechanism.

As shown in fig. 1-12, in some embodiments, the lifting portion of the lifting mechanism includes a linkage structure 4.

As shown in fig. 1, 2, 7, and 8, the link structure 4 includes: the lifting mechanism comprises a base, a first hinge shaft S1, a second hinge shaft S2, a third hinge shaft S3, a fourth hinge shaft S4, a first connecting rod 42, a second connecting rod 43, a third connecting rod 44, a fourth connecting rod 45, a pull rod 46, a lifting platform 41 and a limiting rod 47.

As shown in fig. 1, 2, 7 and 8, the link structure 4 includes two tie rods 46 and two stopper rods 47. Wherein the base comprises two first bases 49 and two second bases 48. As shown in fig. 1 and 2, the lifting mechanism further includes a base plate 5, and the first base 49 and the second base 48 are fixedly mounted on the base plate 5, so that the link structure 4 is mounted on the base plate 5.

As shown in fig. 7 and 8, the lower end of the first link 42 is hinged to the base. The second link 43 is positioned above the first link 42, and the lower end of the second link 43 and the upper end of the first link 42 are hinged at the first hinge shaft S1. The third link 44 is disposed in parallel with the first link 42, and a lower end of the third link 44 is hinged to the base. The fourth link 45 is positioned above the third link 44, and the lower end of the fourth link 45 and the upper end of the third link 44 are hinged at the second hinge shaft S2. A first end of the pull rod 46 is hinged to the first hinge shaft S1, and a second end of the pull rod 46 is hinged to the second hinge shaft S2. The first end of the elevating platform 41 and the upper end of the second link 43 are hinged to the third hinge shaft S3, and the second end of the elevating platform 41 and the upper end of the fourth link 45 are hinged to the fourth hinge shaft S4. The limiting rod 47 is located above the pull rod 46, a first end of the limiting rod 47 is hinged to the third hinge shaft S3, and a second end of the limiting rod 47 is hinged to the base.

The upper connecting rod mechanism 4 is arranged into an upper parallelogram connecting rod structure and a lower parallelogram connecting rod structure, so that the lifting platform can be lifted along the vertical direction, and the displacement in the horizontal direction is small. Wherein, the first end of the limiting rod 47 is hinged with the third hinge shaft S3, the second end is hinged with the base, the lifting platform 41 is restrained by the limiting rod 47 in the lifting process, so that the lifting platform 41 has almost no displacement in the longitudinal direction, and thus the lifting platform 41 basically only lifts in the vertical direction.

As shown in fig. 7 and 8, the hinge point of the pull rod 46 is spaced laterally inward of the hinge point of the stopper rod 47 to avoid interference.

In the related art known by the inventor, in the lifting mechanism including the link mechanism, the pull rod and the limiting rod are mostly designed to avoid interference positions by adopting a 'C' type or 'bow' type appearance due to structural limitation, so that the structure of the whole lifting mechanism is complex, and when the load is large, the pull rod and the limiting rod are easily caused to generate elastic deformation, so that the parallelism between a lifting platform of the lifting mechanism and a vehicle body is influenced. The link structure 4 of this embodiment sets up the pin joint of pull rod 46 at the horizontal inboard of the pin joint of gag lever post 47, and at lifting mechanism's lift in-process, pull rod 46 and gag lever post 47 interval setting can avoid interfering in the transverse direction, just need not to carry out special design to the shape of pull rod or gag lever post, and then simplify whole lifting mechanism's structure.

In some embodiments of the present disclosure, referring to fig. 9, the restraint bar 47 is a straight bar. The limiting rod 47 is set to be a straight rod, so that the elastic deformation of the limiting rod 47 is the minimum when the limiting rod is stressed under the condition that the sectional area of the material is not changed, and the parallelism between the lifting platform 41 and the vehicle body is improved.

Further, referring to fig. 10, the tie rod 46 may also be provided as a straight rod. As such, this arrangement minimizes the elastic deformation of the tension rod 46 when subjected to a force.

In some embodiments, referring to fig. 7, a hinge ear of one of the first and second links 42 and 43, which is hinged to the first hinge shaft S1, and a hinge ear of the other link, which is hinged to the first hinge shaft S1, are laterally spaced apart and have a gap a at which a hinge point of the first end of the pull rod 46 and the first hinge shaft S1 is located. This allows the hinge point of the pull rod 46 to be located between the first pull rod 42 and the second pull rod 43.

One of the third link 44 and the fourth link 45 is hinged to the third hinge shaft, and the other is hinged to the third hinge shaft, and the third link and the fourth link are spaced apart from each other in the transverse direction and have a gap, and the hinge point between the second end of the pull rod 46 and the third hinge shaft is located in the gap.

The limiting rod 47 is arranged on the outer side of the lifting platform 41, so that interference caused by overlapping of the positions of the pull rod 46 and the limiting rod 47 is avoided.

Referring to fig. 7 and 8, the first link 42, the second link 43, the third link 44, and the fourth link 45 have the same structure. The same four groups of connecting rods can reduce the types of parts of the lifting mechanism.

Referring to fig. 11, the first link 42 includes a rod 421, a first hinge ear 422 and a second hinge ear 423, the first hinge ear 422 is located at a lower side of the rod 421, the second hinge ear 423 is located at an upper side of the rod 421, and the second hinge ear 423 is spaced apart from and located laterally inward of the first hinge ear 422.

The structures of the second link 43, the third link 44 and the fourth link 45 may all refer to the structure of the first link 42, and a description thereof will not be repeated.

Referring to fig. 7, the first hinge lug of the second link 43 and the second hinge lug of the first link 42 are hinged at the first hinge shaft S1, and the pull rod 46 is hinged at the first hinge shaft S1 and located between the first hinge lug of the second link 43 and the second hinge lug of the first link 42. Fig. 7 shows that the hinge point of the pull rod 46 and the first hinge shaft S1 is located at the gap a between the first hinge lug of the second link 43 and the second hinge lug of the first link 42.

In some embodiments, referring to fig. 7, a first end of the stopper rod 47 is hinged at an outer surface of the elevating platform 41. Therefore, the hinge point of the first end of the limiting rod 47 is located on the outer side of the lifting platform 41, the hinge point of the first end of the pull rod 46 is arranged between the second connecting rod 43 and the first connecting rod 42, the hinge point of the first end of the pull rod 46 is located on the lateral outer side of the hinge point of the first end of the limiting rod 47, the two hinge points are arranged at intervals, and interference of movement between the two rods of the pull rod 46 and the limiting rod 47 can be avoided.

Referring to fig. 7 and 8, the second end of the stopper rod 47 is hinged to the second base 48, and the second base 48 is disposed outside the third link 44 and the fourth link 45. A second end of the pull rod 46 is hinged between the third link 44 and the fourth link 45. This also allows the hinge point of the second end of the stopper rod 47 and the hinge point of the second end of the pull rod 46 to be spaced apart to avoid interference.

In some embodiments, as shown in fig. 11, the first link 42 includes two first hinge lugs 422 and two second hinge lugs 423 that are symmetrically spaced in the lateral direction. The second link 43, the third link 44, and the fourth link 45 have the same structure as the first link 42.

As shown in fig. 7 and 8, the connecting rod structure 4 also includes two limiting rods 47 and two pull rods 46 symmetrically arranged in the transverse direction, so that two transverse ends of the lifting platform 41 are respectively provided with a connecting rod for supporting the lifting platform, and the lifting platform 41 can lift more stably. And the load of the lifting platform 41 is supported by a plurality of connecting rods together, so that the stress can be dispersed.

The first base 49 and the second base 48 are oppositely disposed at both longitudinal ends. Wherein the first base 49 is fixedly disposed and has a hinge hole for being hinged with the first link 42. As shown in fig. 12, the second base 48 is provided with a bottom hinge hole 481 at the bottom and a top hinge hole 482 at the top, wherein the bottom hinge hole 481 is used for being hinged with the third link 44, and the top hinge hole 482 is used for being hinged with the stopper rod 47.

As shown in fig. 7, the lower end of the first link 42 is hinged to the first base 49, the lower end of the second link 43 and the upper end of the first link 42 are hinged to the first hinge shaft S1, and the upper end of the second link 43 and the lift table 41 are hinged to the third hinge shaft S3.

As shown in fig. 8, the lower end of the third link 44 is hinged to the second base 48, the lower end of the fourth link 45 and the upper end of the third link 44 are hinged to a second hinge shaft S2, and the upper end of the fourth link 45 and the lift table 41 are hinged to a fourth hinge shaft S4. A pull rod 46 is hinged between the first hinge axis S1 and the second hinge axis S2,

thus, in the height direction, the base, the first link 42, the third link 44, and the pull rod 46 form a first parallelogram, and the lift table 41, the second link 42, the pull rod 46, and the fourth link 45 form a second parallelogram. Two parallelograms of the connecting rod structure are driven by the rocker 3 to deform so as to realize lifting.

As shown in fig. 11, the first link 42 includes a rod 421, two first hinge lugs 422 respectively located at two lateral ends of a lower side of the rod 421, and two second hinge lugs 423 respectively located at an upper side of the rod 421. In the transverse direction, the second hinge lug 423 is spaced apart from the first hinge lug 422, i.e., has a gap. As shown in fig. 7, when the lower end of the second link 43 is hinged to the upper end of the first link 42, a gap a is formed between the first hinge lug of the second link 43 and the second hinge lug of the first link 42.

As shown in fig. 7, the pull rod 46 is hinged at the first hinge axis S1. Fig. 7 shows that the hinge point of the pull rod 46 is located at the gap a between the first hinge lug of the second link 43 and the second hinge lug of the first link 42. The first end of the stopper rod 47 is hinged to the third hinge shaft S3 and located outside the lift table 41. Therefore, the hinge point of the first end of the limiting rod 47 is located on the outer side of the lifting platform 41, the hinge point of the first end of the pull rod 46 is arranged between the second connecting rod 43 and the first connecting rod 42, the hinge point of the first end of the pull rod 46 is located on the lateral outer side of the hinge point of the first end of the limiting rod 47, the two hinge points are arranged at intervals, and interference of movement between the two rods of the pull rod 46 and the limiting rod 47 can be avoided.

The structure of the limiting rod 47 is shown in fig. 9, and the limiting rod 47 is a straight rod. The stopper rod 47 includes hinge portions at both ends, respectively. And the middle part of the limiting rod 47 is arranged in a hollow way to reduce weight.

The structure of the pull rod 46 is shown in fig. 10, and the pull rod 46 is also a straight rod. Similarly, the two ends of the pull rod 46 are also provided with hinged parts, and the middle part of the pull rod 46 is hollow for reducing weight.

The positions of the pull rod and the limiting rod are separated, so that the pull rod and the limiting rod can be designed into a linear shape, and the elastic deformation of the connecting rod and the limiting rod can be minimized when the connecting rod and the limiting rod are stressed under the condition that the materials and the sectional area are not changed, so that the parallelism between the lifting platform and the vehicle body is improved.

In the present embodiment, as shown in fig. 1, 2 and 4, the rocking lever 3 is hinged to the fourth link 45. Specifically, as shown in fig. 4, the rocker 3 is hinged on a fourth hinge axis S4 where the fourth link 45 is hinged with the lifting platform 41, specifically at a gap B between the second hinge lug and the hinge lug of the lifting platform 41. The rocker 3 may be hinged to the fourth hinge axis S4 by a bushing. This arrangement contributes to improving the stability of the elevating table 41.

The working process of the lifting mechanism of the embodiment is as follows: the rotating motor of the power part 1 drives the speed reducer 12 to rotate, the speed reducer 12 drives the first gear 13 and the second gear 14 to rotate, the second gear 14 drives the transmission shaft 15 to rotate, the transmission shaft 15 drives the crank 2 to rotate, the crank 2 drives the rocker 3 to rotate, and the rocker 3 drives the two parallelograms of the connecting rod structure 4 to deform so as to realize the lifting of the lifting platform 41.

The embodiment shown in fig. 13 differs from the embodiment shown in fig. 12 in the mechanism of the lifting section for driving the lifting table.

As shown in fig. 13, in the present embodiment, a guide rail slider assembly is used instead of the portion other than the lift table 41 in the link mechanism 4 of the lift mechanism shown in fig. 12. The guide rail slider assembly comprises a slider 401 and a guide rail 402. The slider 401 is connected with the transmission shaft in a driving mode, and the lifting platform is connected with the slider 401. The guide rail 402 is slidably disposed on the guide rail 402, and the slider 401 slides along the guide rail 402 under the driving of the transmission shaft to realize the lifting and lowering of the lifting platform.

As shown in fig. 13, a first gear 13 connected to an output shaft of a speed reducer of the power section is driven by the speed reducer to rotate, a second gear 14 engaged with the first gear 13 is driven by the first gear 13 to rotate, the second gear 14 is connected to a transmission shaft and drives the transmission shaft to rotate, the transmission shaft drives a crank 2 mounted thereon to rotate, and further drives a rocker 3 hinged to the crank 2 to swing, and a slider 401 hinged to the rocker 3 reciprocates along a guide rail 402 under the drive of the rocker 3. The guide rail 402 is arranged in the up-down direction, and the slider 401 and the lift table connected thereto reciprocate in the up-down direction.

In order to realize the stable motion of the lifting platform, two groups of guide rail sliding block assemblies which are in driving connection with the power part can be arranged to drive the lifting platform to lift so as to realize that two stress points drive the lifting platform to lift and improve the stability of the lifting platform when lifting.

In addition, auxiliary guiding devices, such as a guide rail slider assembly, a guide rod guide hole structure and the like, can be arranged to guide the lifting of the lifting platform so as to improve the stability of the lifting platform during lifting.

The parts not illustrated in the embodiment shown in fig. 13 can refer to the relevant parts of the embodiments shown in fig. 1 to 12.

As can be seen from the above description, the lifting mechanism and the automated guided vehicle having the same according to the embodiments of the present disclosure have at least one of the following advantages:

the transmission mechanism connected with the speed reducer is added, for example, the gear transmission mechanism, the transmission shaft connected with the transmission mechanism and the supporting shaft supporting assembly are added, so that the reaction force of the lifting part, for example, the reaction force transmitted through the crank rocker assembly, can be born by the transmission mechanism, the transmission shaft and the shaft supporting assembly, the direct force application on the speed reducer is reduced, and the service life of the speed reducer is prolonged.

The double-crank double-rocker is adopted to transmit driving force to the lifting part, so that the stability of the lifting platform during lifting is ensured.

The crank is arranged on the transverse inner side of the rocker and can rotate completely and continuously, so that each rotating component of the driving device, such as a rotating motor, a speed reducer, a transmission mechanism, a transmission shaft and the like, can rotate in a single direction to lift the lifting platform, mechanical damage caused when the speed reducer crosses a mechanical dead point in a forward and reverse rotation mode is prevented, and fatigue damage of each rotating component is reduced.

When the lifting part comprises a connecting rod mechanism, the rocker is hinged with a fourth hinge shaft at the lower part of the lifting platform, so that the stability of the lifting platform during lifting is improved.

When the lifting part comprises a connecting rod mechanism, the hinge point of the pull rod is designed between the first connecting rod and the second connecting rod, so that the position of the lifting part is overlapped with the position of the limiting rod to avoid interference; the connecting rod and the limiting rod can be designed into a linear shape by further separating the positions of the connecting rod and the limiting rod, and the elastic deformation of the connecting rod and the limiting rod can be minimized when the connecting rod and the limiting rod are stressed under the condition that the material and the sectional area are not changed, so that the parallelism between the lifting platform and the vehicle body is improved.

Finally, it should be noted that: the above examples are intended only to illustrate the technical solutions of the present disclosure and not to limit them; although the present disclosure has been described in detail with reference to preferred embodiments, those of ordinary skill in the art will understand that: modifications to the embodiments of the disclosure or equivalent replacements of parts of the technical features may be made, which are all covered by the technical solution claimed by the disclosure.

Claims (14)

1. A lifting mechanism comprises a power part (1) and a lifting part in driving connection with the power part (1), wherein the lifting part comprises a lifting platform (41), the power part (1) is configured to drive the lifting part to act so as to realize the lifting of the lifting platform (41), and the power part (1) is characterized by comprising:

a drive device (11);

a speed reducer (12) which is in driving connection with the driving device (11);

the transmission mechanism is in driving connection with the speed reducer (12);

the transmission shaft (15) is in driving connection with the transmission mechanism, and the lifting part is in driving connection with the transmission shaft (15); and

a shaft support assembly (16), the drive shaft (15) being supported on the shaft support assembly (16).

2. The lift mechanism of claim 1, wherein the transmission is a gear transmission comprising:

a first gear (13) connected to an output shaft of the speed reducer (12) to be rotated by the output shaft; and

and the second gear (14) is meshed with the first gear (13) and is connected with the transmission shaft (15) to drive the transmission shaft (15) to rotate.

3. A lifting mechanism according to claim 1, characterized in that the shaft support assembly (16) comprises at least two shaft supports distributed in the axial direction of the drive shaft (15).

4. The lift mechanism of claim 3, wherein the shaft support comprises:

a bearing (161) on which the drive shaft (15) is rotatably supported;

the shaft seat (162), the bearing (161) is supported on the shaft seat (162); and

and the gland (163) is arranged on the shaft seat (162), and the gland (163) and the shaft seat (162) enclose a containing space for containing the bearing (161).

5. The lifting mechanism according to claim 1, characterized in that the power section (1) further comprises a base (19), the drive means (11), the reducer (12), the transmission mechanism, the transmission shaft (15) and the shaft support assembly (16) all being mounted on the base (19).

6. The lift mechanism of claim 1, further comprising:

the crank (2) is connected to the transmission shaft (15) and driven by the transmission shaft (15) to rotate; and

the first end of the rocker (3) is rotatably connected to the crank (2), and the second end of the rocker (3) is hinged to the lifting part.

7. The lifting mechanism according to claim 6, characterized in that it comprises two cranks (2) spaced at different points in the axial direction of the transmission shaft (15) and two rockers (3) corresponding to the two cranks (2).

8. The lifting mechanism according to claim 6, characterized in that the rocker (3) is located outside the crank (2) along the transmission shaft (15), and the crank (2) is configured to rotate in one direction under the driving of the transmission shaft (15) to drive the rocker (3) to rotate and the lifting part to act to lift the lifting platform (41).

9. A lifting mechanism according to claim 1, further comprising a base plate (5), the power section (1) and the lifting section being mounted on the base plate (5).

10. A lifting mechanism according to any one of claims 1-9, characterized in that the lifting portion comprises a link arrangement (4), which link arrangement (4) comprises:

a base;

a first hinge shaft (S1), a second hinge shaft (S2), a third hinge shaft (S3), and a fourth hinge shaft (S4);

a first connecting rod (42), wherein the lower end of the first connecting rod (42) is hinged with the base;

a second link (43) located above the first link (42), and a lower end of the second link (43) and an upper end of the first link (42) are hinged to the first hinge shaft (S1);

the third connecting rod (44) is arranged in parallel with the first connecting rod (42), and the lower end of the third connecting rod (44) is hinged with the base;

a fourth link (45) positioned above the third link (44), and a lower end of the fourth link (45) and an upper end of the third link (44) are hinged to the second hinge shaft (S2);

a pull rod (46), a first end of the pull rod (46) being hinged with the first hinge axis (S1), a second end of the pull rod (46) being hinged with the second hinge axis (S2);

the lifting platform (41), a first end of the lifting platform (41) and an upper end of the second connecting rod (43) are hinged to the third hinge shaft (S3), a second end of the lifting platform (41) and an upper end of the fourth connecting rod (45) are hinged to the fourth hinge shaft (S4); and

the limiting rod (47), the limiting rod (47) is located the top of pull rod (46), just the first end of limiting rod (47) with third articulated shaft (S3) is articulated, the second end of limiting rod (47) with the base is articulated.

11. A lifting mechanism according to claim 10, wherein the hinge point of the pull rod (46) is spaced laterally inboard of the hinge point of the restraint lever (47) to avoid interference.

12. The lift mechanism of claim 10, further comprising:

the crank (2) is connected to the transmission shaft (15) and driven by the transmission shaft (15) to rotate; and

the first end of the rocker (3) is rotatably connected to the crank (2), and the second end of the rocker (3) is hinged to the fourth hinged shaft (S4).

13. The lifting mechanism of any one of claims 1 to 9, wherein the lifting portion comprises:

the lifting platform;

the sliding block (401) is in driving connection with the transmission shaft, and the lifting table (41) is connected with the sliding block (401); and

the guide rail (402) is slidably arranged on the guide rail (402), and the sliding block (401) slides along the guide rail (402) under the driving of the transmission shaft so as to realize the lifting of the lifting platform (41).

14. Automated guided vehicle, characterized in that it comprises a lifting mechanism according to any one of claims 1 to 13.

Images