CN219174131U - Connecting rod type rotary jacking device for AGV trolley - Google Patents

Abstract

The utility model provides a connecting rod type rotary jacking device for an AGV trolley, which can solve the problem that the conventional rotary jacking device cannot meet the requirement of the AGV on miniaturization under the condition of large carrying capacity. The rotating mechanism is arranged on the jacking mechanism, and the jacking mechanism is arranged on the AGV chassis; the jacking plate of the jacking mechanism is vertically arranged on the AGV chassis in a lifting manner through a parallelogram connecting rod bracket; the slewing bearing and the driving pinion of the rotating mechanism are both arranged on the lifting plate, the tooth shape of the outer ring of the slewing bearing is meshed with the driving pinion, the rotating driving assembly is arranged on the lifting plate and comprises a rotating driving motor and a harmonic reducer which are in transmission connection, and a harmonic output shaft of the harmonic reducer is connected with the driving pinion; the power source of jacking drive assembly installs on the AGV chassis, and jacking drive structure and parallelogram connecting rod leg joint, the power take off end of power source passes through transmission structure and jacking drive structure to be connected.

Description

Connecting rod type rotary jacking device for AGV trolley

Technical Field

The utility model relates to the field of AGV devices, in particular to a connecting rod type rotary jacking device for an AGV trolley.

Background

AGV (Automated Guided Vehicle), namely an unmanned guided vehicle, is a vehicle equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a predetermined guiding path and having safety protection and various transfer functions, and is capable of realizing unmanned, automatic and safe transfer functions, thereby effectively saving labor and greatly improving work efficiency, and is now used in a plurality of fields such as logistics, warehouse, manufacturing industry and the like.

The rotary jacking device is an important component part in the AGV and comprises a rotary mechanism and a jacking mechanism, wherein the rotary mechanism can directly or indirectly bear goods in application and can drive the whole goods to rotate in a plane, meanwhile, the rotary mechanism is connected with the jacking mechanism, and the jacking mechanism can drive the rotary mechanism and the goods borne by the rotary mechanism to do integral lifting movement in the vertical direction; the existing jacking mechanism adopts a motor-driven screw rod transmission mode, and the screw rod transmission mechanism cannot adapt to the requirement of large carrying capacity due to low carrying capacity, and meanwhile, has the problems of complex structure and large occupied space, so that the existing AGV does not adapt to the requirement of miniaturization development; the existing rotating mechanism mostly adopts a gear transmission mode, a motor and a speed reducer drive a driving pinion to rotate, and the driving pinion drives a slewing bearing with meshed tooth shapes on the periphery to rotate, and the transmission mode can realize the slewing function of the slewing bearing, but if the transmission mode is suitable for supporting and slewing goods with large carrying capacity, the motor and the speed reducer with large output power are required to be matched, the problems of heavy weight and large volume of the high-power motor and the speed reducer are required, and the current AGV is not suitable for the requirement of miniaturization development; therefore, the conventional rotary jacking device cannot meet the requirement of the AGV for miniaturization under the condition of large carrying capacity.

Disclosure of Invention

The utility model provides a connecting rod type rotary jacking device for an AGV, which can solve the problem that the conventional rotary jacking device cannot meet the requirement of the AGV on miniaturization under the condition of large carrying capacity.

Its technical scheme is, a rotatory jacking device of connecting rod for AGV dolly, it includes rotary mechanism and climbing mechanism, rotary mechanism install in climbing mechanism is last, climbing mechanism installs on the AGV chassis, its characterized in that: the jacking mechanism comprises a jacking plate, a parallelogram connecting rod bracket and a jacking driving assembly, wherein the jacking plate is vertically arranged on the AGV chassis in a lifting manner through the parallelogram connecting rod bracket; the rotary mechanism comprises a rotary driving assembly, a driving pinion and a slewing bearing, wherein the slewing bearing and the driving pinion are both arranged on the jacking plate, the tooth shape of an outer ring of the slewing bearing is meshed with the driving pinion, the rotary driving assembly is arranged on the jacking plate, the rotary driving assembly comprises a rotary driving motor and a harmonic reducer which are in transmission connection, and a harmonic output shaft of the harmonic reducer is connected with the driving pinion; the jacking driving assembly comprises a power source, a transmission structure and a jacking driving structure, wherein the power source is arranged on the AGV chassis, the jacking driving structure is connected with the parallelogram connecting rod bracket, and a power output end of the power source is connected with the jacking driving structure through the transmission structure.

Further, the parallelogram link support includes bottom support subassembly and top support subassembly, bottom support subassembly install in on the AGV chassis, top support subassembly install in jacking plate bottom, jacking plate and top support subassembly form parallelogram mechanism, bottom support subassembly and AGV chassis form parallelogram mechanism down, by two rotation connecting axle that follow vertical parallel arrangement between bottom support subassembly and the top support subassembly linkage between two sets of parallelogram link mechanisms of upper and lower, two still be connected through the horizontal connecting rod respectively between the axial both ends of rotation connecting axle.

Still further, bottom support subassembly includes two bottom center pin and two bottom swing support, two bottom center pin set firmly in along vertical parallel on the AGV chassis, bottom swing support includes two bottom swinging arms and vertical connecting rod between two bottom swinging arms of perpendicular connection, and two bottom swinging arms lie in the same side end of vertical connecting rod rotationally run through install in a bottom center pin, the opposite side end run through install in rotate the connecting axle install simultaneously on horizontal connecting rod.

The top support assembly comprises two top center shafts and two top swing supports, the two top center shafts are arranged on the jacking plate in parallel along the longitudinal direction, each top swing support comprises two top swing rods and a longitudinal connecting sleeve which is perpendicularly connected between the same side ends of the two top swing rods, one rotation connecting shaft is arranged in the longitudinal connecting sleeve in a penetrating mode, the two axial ends of the rotation connecting shaft penetrate through the horizontal connecting rods respectively and then are connected with the corresponding bottom swing rods, and the other side ends of the two top swing rods of the top swing supports are rotatably installed on one top center shaft in a penetrating mode.

Further, jacking drive structure set up in on the AGV chassis and be located horizontal one side of parallelogram link support, jacking drive structure includes drive shaft, push rod, drive gear and crank subassembly, drive gear passes through transmission structure with the output transmission of power supply is connected, drive gear's sun gear hole inlay in on the drive shaft, the drive shaft is along vertically setting up and its axial both ends rotationally install respectively on the supporting seat, the supporting seat set firmly in on the AGV chassis, set up the open slot along radial extension on drive gear's the periphery tooth profile, drive shaft and push rod axial parallel arrangement just the push rod block is gone into all the time in the open slot, drive shaft, push rod's axial both ends are connected with a set of crank subassembly respectively, crank subassembly still with adjacent one side parallelogram link support's a top center pin connection.

Still further, the crank subassembly includes connecting piece and crank, the connecting piece has been seted up central shaft hole and eccentric shaft hole of locating central shaft hole one side off-set, connecting shaft hole has been seted up respectively at the both ends of crank, the axle head of drive shaft, the axial one end of push rod respectively with the assembly of central shaft hole, eccentric shaft hole of connecting piece, the connecting shaft hole at crank both ends respectively with the axial one end of push rod, adjacent one side the top center pin is connected.

Furthermore, two ends of the top central shaft, which are far away from one side of the jacking driving structure, in the top bracket component are respectively arranged at one end of a supporting connecting rod, and the other end of the supporting connecting rod is rotatably connected with a supporting seat positioned at the same longitudinal side.

Further, the power supply is the pneumatic cylinder, the pneumatic cylinder pass through the base install in on the AGV chassis just the vertical upward setting of guide arm end of pneumatic cylinder, transmission structure includes lifting sprocket, fixed sprocket and drive chain, the guide arm tip of pneumatic cylinder is equipped with the connecting block admittedly, install respectively at the vertical both ends of connecting block lifting sprocket, be equipped with vertical extension board on the base, install respectively at the vertical both ends of vertical extension board fixed sprocket, on the base and be located the vertical both sides of pneumatic cylinder and be provided with the chain fixing base respectively, drive chain's one end with the chain fixing base is fixed, the other end is fixed with drive gear, just the drive chain winds to be located lifting sprocket, fixed sprocket and can with drive gear's profile of tooth face meshing.

Further, the power source includes through the motor cabinet install in lift driving motor and speed reducer on the AGV chassis, lift driving motor's power take off end is connected with the output transmission of speed reducer, the last coupling of power take off end of speed reducer has output gear, output gear with the profile of tooth face meshing of the drive gear of jacking drive structure is connected.

Furthermore, the open slot of the driving gear is a sector groove, and the push rod is always positioned in the sector groove.

The utility model has the beneficial effects that: the jacking mechanism adopts a parallelogram connecting rod bracket with strong bearing capacity and compact structure, and the jacking driving assembly drives the parallelogram connecting rod bracket to drive the vertical lifting of the jacking plate so as to adapt to jacking and transferring of goods with large carrying capacity; meanwhile, a harmonic speed reducer with large transmission speed ratio, high bearing capacity, small volume and light weight is adopted in a rotary driving assembly of the rotary mechanism, so that the bearing capacity of the rotary mechanism is greatly improved, the volume and weight of the whole rotary mechanism can be effectively reduced, and the installation space in an AGV trolley is saved; therefore, the rotary jacking device can greatly improve the bearing capacity of the AGV and effectively reduce the volume of the AGV, so that the overall structure can meet the miniaturization requirement.

Drawings

FIG. 1 is a perspective view of a first view of a link rotary jacking device for an AGV in a jacking state according to a first embodiment of the present utility model;

FIG. 2 is a schematic perspective view of a second view of a link rotary jacking device for an AGV in a jacking state according to a first embodiment of the present utility model;

FIG. 3 is a schematic perspective view of a parallelogram link holder in an elevated state in the apparatus of the present utility model;

FIG. 4 is an enlarged schematic view of the bottom swing frame of the parallelogram link frame of the apparatus of the present utility model;

FIG. 5 is an enlarged schematic view of the top swing frame of the parallelogram link frame of the apparatus of the present utility model;

FIG. 6 is a schematic perspective view of an embodiment of the present utility model in a lifted state without the power source and transmission structure of the lifting drive assembly;

FIG. 7 is an enlarged schematic view of a part of the lifting driving structure in the lifting driving assembly in a lifting state according to the first embodiment of the present utility model;

FIG. 8 is an enlarged schematic view of the driving gear in the jack-up driving structure according to the first embodiment of the present utility model;

FIG. 9 is a perspective view of a link rotary jacking device for an AGV in a lowered state according to a first embodiment of the present utility model;

FIG. 10 is a schematic perspective view of a power source and transmission structure of the present utility model in a lowered state and without the jack-up drive assembly;

FIG. 11 is a perspective view of a first view of a link rotary jacking device for an AGV in a jacking state according to a second embodiment of the present utility model;

FIG. 12 is a schematic perspective view of a second view of a link rotary jacking device for an AGV in a jacking state according to a second embodiment of the present utility model;

FIG. 13 is a schematic perspective view of a power source and transmission structure of a second embodiment of the present utility model in a lowered state without the jack-up drive assembly;

FIG. 14 is a bottom perspective view of a second embodiment of the present utility model in a raised position without the AGV chassis assembled;

FIG. 15 is a perspective view of a first view of a link rotary jacking device for an AGV in a lowered position in accordance with a second embodiment of the present utility model;

FIG. 16 is a bottom perspective view of a second embodiment of the present utility model in a lowered condition without the AGV chassis assembled;

fig. 17 is an enlarged schematic view of a driving gear of the second embodiment of the device of the present utility model.

Reference numerals:

10-rotating mechanism, 11-rotating driving assembly, 111-rotating driving motor, 112-harmonic speed reducer, 113-motor mounting seat, 12-driving pinion and 13-slewing bearing;

20-lifting mechanism, 21-lifting plate,

22-parallelogram link support, 221-bottom support assembly, 2211-bottom center shaft, 2212-bottom swing support, 2212 a-bottom swing rod, 2212 b-longitudinal connecting rod, 222-top support assembly, 2221-top center shaft, 2222-top swing support, 2222 a-top swing rod, 2222 b-longitudinal connecting sleeve, 223-rotation connecting shaft, 224-horizontal link, 225-support link,

23-jacking driving component, 231 a-hydraulic cylinder, 231 b-lifting driving motor, 231 c-speed reducer, 232-transmission structure, 2321-lifting sprocket, 2322-fixed sprocket, 2323-transmission chain, 2324-connecting block, 2325-vertical support plate, 2326-chain fixing seat, 2327-output gear, 233-jacking driving structure, 2331-driving shaft, 2332-push rod, 2333-driving gear, 2333 a-tooth profile, 2333 b-open slot, 2334-supporting seat, 2335-connecting piece, 2335 a-central shaft hole, 2335 b-eccentric shaft hole, 2336-crank, 234-base, 235-motor seat,

100-AGV chassis.

Detailed Description

Embodiment one:

referring to fig. 1 to 10, the utility model relates to a connecting rod type rotary jacking device for an AGV trolley, which comprises a rotary mechanism 10 and a jacking mechanism 20, wherein the rotary mechanism 10 is installed on the jacking mechanism 20, and the jacking mechanism 20 is installed on an AGV chassis 100; the jacking mechanism 20 comprises a jacking plate 21, a parallelogram connecting rod bracket 22 and a jacking driving assembly 23, wherein the jacking plate is vertically arranged on the AGV chassis in a lifting manner under the driving of the jacking driving assembly 23 through the parallelogram connecting rod bracket; the rotary mechanism 10 comprises a rotary driving assembly 11, a driving pinion 12 and a slewing bearing 13, wherein the slewing bearing 13 and the driving pinion 12 are both arranged on a jacking plate 21, the tooth shape of the outer ring of the slewing bearing 13 is meshed with the driving pinion 12, the rotary driving assembly 11 is arranged on the jacking plate 21, the rotary driving assembly 11 comprises a rotary driving motor 111 and a harmonic reducer 112 which are in transmission connection, a harmonic output shaft of the harmonic reducer 112 is connected with the driving pinion 12, a motor mounting seat 113 is arranged at the bottom of the jacking plate 21 in the embodiment, the harmonic reducer 112 is arranged in the motor mounting seat 113, and the rotary driving motor 111 is arranged at the bottom of the motor mounting seat 113; the jacking driving assembly 23 comprises a power source, a transmission structure 232 and a jacking driving structure 233, wherein the power source is a hydraulic cylinder 231a in the embodiment, the hydraulic cylinder 231 is installed on the AGV chassis 100 through a base 234, the jacking driving structure 232 is connected with the parallelogram link support 22, and a power output end of the power source is connected with the jacking driving structure 233 through the transmission structure 233.

According to the preferred technical scheme, the parallelogram linkage support 22 comprises a bottom support assembly 221 and a top support assembly 222, the bottom support assembly 221 is mounted on the AGV chassis 100, the top support assembly 222 is mounted at the bottom of the jacking plate 21, the jacking plate 21 and the top support assembly 222 form an upper parallelogram mechanism, the bottom support assembly 221 and the AGV chassis 100 form a lower parallelogram mechanism, the bottom support assembly 221 and the top support assembly 222 are connected by two rotating connecting shafts 223 which are longitudinally arranged in parallel to form linkage between the upper parallelogram linkage mechanism and the lower parallelogram linkage mechanism, and two rotating connecting shafts 223 are connected through horizontal connecting rods 224 respectively at the two axial ends of the two rotating connecting shafts 223.

Further preferred embodiments of the bottom bracket assembly 221 include two bottom center shafts 2211 and two bottom swing brackets 2212, the two bottom center shafts 2211 are longitudinally and parallelly fixed on the AGV chassis 100, the bottom swing brackets 2212 include two bottom swing rods 2212a and a longitudinal connecting rod 2212b vertically connected between the two bottom swing rods 2212b and forming an "h" structure, the two bottom swing rods 2212a are rotatably mounted on a bottom center shaft 2211 at the same side end of the longitudinal connecting rod 2212b in a penetrating manner, and the other side end is mounted on the horizontal connecting rod 224 while penetrating and being mounted on the rotating connecting shaft 223.

The top bracket assembly 222 includes two top center shafts 2221 and two top swing supports 2222, the two top center shafts 2221 are disposed on the jacking plate 21 in parallel along a longitudinal direction, the top swing supports 2222 include two top swing rods 2222a and a longitudinal connection sleeve 2222b vertically connected between the same side ends of the two top swing rods 2222a, a rotation connection shaft 223 is disposed in the longitudinal connection sleeve 2222b in a penetrating manner, and two axial ends of the rotation connection shaft 223 are connected with the corresponding bottom swing rods 2212a after respectively passing through the horizontal connection rods 224, and the other side ends of the two top swing rods 2222a of the top swing supports 2222 are rotatably mounted on the top center shaft 2221 in a penetrating manner.

The jacking driving structure 233 is arranged on the AGV chassis 100 and located on one lateral side of the parallelogram link support 22, the jacking driving structure 233 comprises a driving shaft 2331, a pushing rod 2332, a driving gear 2333 and a crank assembly, the driving gear 2333 is in transmission connection with the output end of the power source 231 through the transmission structure 232, a central gear hole of the driving gear 2333 is embedded on the driving shaft 2331, the driving shaft 2331 is longitudinally arranged and the two axial ends of the driving shaft 2331 are respectively rotatably arranged on a supporting seat 2334, the supporting seat 2334 is fixedly arranged on the AGV chassis 100, an opening groove 2333b extending along the radial direction is formed in a tooth-shaped surface 2333a of the periphery of the driving gear 2333, the driving shaft 2331 and the pushing rod 2332 are axially arranged in parallel and can be always clamped into the opening groove 2333b, the axial two ends of the driving shaft 2331 and the pushing rod 2332 are respectively connected with a group of crank assemblies, and the crank assembly is also connected with a top central shaft 2221 of the parallelogram link support 22 adjacent to one side.

According to a further preferred technical scheme of the embodiment of the utility model, the crank assembly comprises a connecting piece 2335 and a crank 2336, the connecting piece 2335 is provided with a central shaft hole 2335a and an eccentric shaft hole 2335b eccentrically arranged on one side of the central shaft hole 2335a, the two ends of the crank 2336 are respectively provided with a connecting shaft hole, the shaft end of a driving shaft 2331 and one axial end of a pushing rod 2332 are respectively assembled with the central shaft hole 2335a and the eccentric shaft hole 2335b of the connecting piece 2335, and the connecting shaft holes at the two ends of the crank 2336 are respectively connected with the other axial end of the pushing rod 2332 and the top central shaft 2221 adjacent to one side.

Two ends of a top central shaft 2221 of the top bracket assembly 222, which is far away from the jacking driving structure 233, are respectively mounted at one end of a supporting connecting rod 225, and the other end of the supporting connecting rod 225 is rotatably connected with a supporting seat 2334 positioned at the same longitudinal side.

In this embodiment, a hydraulic cylinder 231a as a power source is mounted on an AGV chassis 100 through a base 234, a guide rod end of the hydraulic cylinder 231a is vertically upwards arranged, a transmission structure 232 includes a lifting sprocket 2321, a fixed sprocket 2322 and a transmission chain 2323, a connecting block 2324 is fixedly mounted at the guide rod end of the hydraulic cylinder, lifting sprockets 2321 are respectively mounted at two longitudinal ends of the connecting block 2324, a vertical support plate 2325 is arranged on the base 234, fixed sprockets 2322 are respectively mounted at two longitudinal ends of the vertical support plate 2325, chain fixing seats 2326 are respectively arranged on the base 234 and located at two longitudinal sides of the hydraulic cylinder 231a, one end of the transmission chain 2323 is fixed with the chain fixing seats 2326, the other end of the transmission chain 2323 is fixed with a driving gear 2333, and the transmission chain 2323 is respectively wound on the lifting sprocket 2321 and the fixed sprocket 2322 and can be meshed with a tooth surface 2333b of the driving gear 2333. The embodiment adopts a driving transmission mode of a hydraulic cylinder with strong lifting and bearing capacity and a chain wheel and chain, thereby further meeting the lifting and transferring requirements of large-load goods.

In the working process, the rotary driving motor 111 works to drive the harmonic speed reducer 112 to act, so that the harmonic speed reducer 112 drives the driving pinion 12 to synchronously rotate, and the driving pinion 12 drives the slewing bearing 13 to rotate, and the slewing bearing 13 can drive an article placed above the slewing bearing to synchronously rotate; the whole rotating mechanism 10 is arranged on the jacking plate 21, and the jacking driving assembly 23 drives the jacking plate 21 and the rotating mechanism 10 arranged on the jacking plate 21 to do integral lifting movement through the parallelogram connecting rod bracket 22; when the parallelogram link support 22 is in a descending state, the hydraulic cylinder 231a is in a guide rod retraction state, at the moment, a connecting block 2324 arranged at the end part of the guide rod and the lifting sprocket 2321 are in the lowest position together with the guide rod of the hydraulic cylinder 231a, the driving gear 2333 is driven by the driving chain 2323 to have the opening groove 2333b at the downward position, and the push rod 2332 clamped in the opening groove 2333b of the driving gear 2333 is also in the lowest point of the descending position at the moment; when lifting is needed, the hydraulic cylinder 231a acts, a guide rod of the hydraulic cylinder drives the lifting chain wheel 2321 to lift through the connecting block 2324, so that the lifting chain wheel 2321 pulls the driving gear 2333 to rotate through the transmission chain 2323, and in the process of rotating the driving gear 2333, on one hand, the push rod 2332 in the open slot 2333b is driven to integrally and synchronously rotate, on the other hand, the driving shaft 2331 is driven to synchronously rotate, and accordingly, the driving shaft 2331 and the push rod 2332 synchronously drive the connecting piece 2335 and the crank 2336 of the crank assembly to act, and the crank assembly pushes the parallelogram connecting rod bracket 22 to open so as to push the lifting plate 21 to lift upwards; the lowering process of the jacking plate 21 is opposite to the jacking process.

Embodiment two:

referring to fig. 11 to 17, the difference between the second embodiment and the first embodiment is that the power source includes a lifting driving motor 231b and a speed reducer 231c mounted on the AGV chassis 100 through a motor base 235, the transmission structure 232 adopts a meshing transmission structure between an output gear 2327 and a driving gear 2333, the power output end of the lifting driving motor 231b is in transmission connection with the output end of the speed reducer 231c, the power output end of the speed reducer 231c is in shaft connection with the output gear 2327, and the output gear 2327 is in meshing connection with the tooth surface of the driving gear 2333 of the lifting driving structure.

In addition, the open slot of the driving gear 2333 is a fan-shaped groove 2333c, and the push rod 2332 is always located in the fan-shaped groove 2333 c.

In this embodiment, the lifting driving motor 231b drives the speed reducer 231c to act, the speed reducer 231c drives the output gear 2327 to rotate, the output gear 2327 pushes the push rod 2332 located in the fan-shaped groove 2333c to synchronously rotate, meanwhile, the output gear 2327 drives the driving shaft 2331 to synchronously rotate, the driving shaft 2331 and the push rod 2332 synchronously drive the connecting piece 2335 and the crank 2336 of the crank assembly to act, and the crank assembly pushes the parallelogram connecting rod bracket 22 to open, thereby pushing the lifting plate 21 to lift upwards; the lowering process of the jacking plate 21 is opposite to the jacking process.

The foregoing describes the embodiments of the present utility model in detail, but the description is only a preferred embodiment of the utility model and should not be construed as limiting the scope of the utility model. All equivalent changes and modifications of the utility model are intended to fall within the scope of the utility model.

Claims (10)

1. A rotatory jacking device of connecting rod formula for AGV dolly, it includes rotary mechanism and climbing mechanism, rotary mechanism install in climbing mechanism is last, climbing mechanism installs on the AGV chassis, its characterized in that: the jacking mechanism comprises a jacking plate, a parallelogram connecting rod bracket and a jacking driving assembly, wherein the jacking plate is vertically arranged on the AGV chassis in a lifting manner through the parallelogram connecting rod bracket; the rotary mechanism comprises a rotary driving assembly, a driving pinion and a slewing bearing, wherein the slewing bearing and the driving pinion are both arranged on the jacking plate, the tooth shape of an outer ring of the slewing bearing is meshed with the driving pinion, the rotary driving assembly is arranged on the jacking plate, the rotary driving assembly comprises a rotary driving motor and a harmonic reducer which are in transmission connection, and a harmonic output shaft of the harmonic reducer is connected with the driving pinion; the jacking driving assembly comprises a power source, a transmission structure and a jacking driving structure, wherein the power source is arranged on the AGV chassis, the jacking driving structure is connected with the parallelogram connecting rod bracket, and a power output end of the power source is connected with the jacking driving structure through the transmission structure.

2. The rotary jacking device of a connecting rod for an AGV cart of claim 1, wherein: the parallelogram connecting rod support comprises a bottom support assembly and a top support assembly, wherein the bottom support assembly is installed on the AGV chassis, the top support assembly is installed at the bottom of the jacking plate, the jacking plate and the top support assembly form an upper parallelogram mechanism, the bottom support assembly and the AGV chassis form a lower parallelogram mechanism, an upper parallelogram connecting rod mechanism and a lower parallelogram connecting rod mechanism are formed between the bottom support assembly and the top support assembly by two rotating connecting shafts which are longitudinally arranged in parallel, and the two rotating connecting shafts are respectively connected through horizontal connecting rods.

3. The rotary jacking device of a connecting rod for an AGV cart of claim 2, wherein: the bottom bracket assembly comprises two bottom center shafts and two bottom swing brackets, the two bottom center shafts are fixedly arranged on the AGV chassis in parallel along the longitudinal direction, the bottom swing brackets comprise two bottom swing rods and longitudinal connecting rods vertically connected between the two bottom swing rods, the two bottom swing rods are rotatably arranged at the same side end of the longitudinal connecting rods in a penetrating manner and are rotatably arranged at a bottom center shaft in a penetrating manner, and the other side end of the longitudinal connecting rods are arranged on the horizontal connecting rods in a penetrating manner and are simultaneously arranged on the rotating connecting shafts.

4. A link rotary jacking device for an AGV trolley as set forth in claim 3 wherein: the top support assembly comprises two top center shafts and two top swing supports, the two top center shafts are arranged on the jacking plate in parallel along the longitudinal direction, each top swing support comprises two top swing rods and a longitudinal connecting sleeve which is perpendicularly connected between the same side ends of the two top swing rods, one rotation connecting shaft is arranged in the longitudinal connecting sleeve in a penetrating mode, the two axial ends of the rotation connecting shaft penetrate through the horizontal connecting rods respectively and then are connected with the corresponding bottom swing rods, and the other side ends of the two top swing rods of the top swing supports are rotatably installed on one top center shaft in a penetrating mode.

5. The rotary jacking device of the connecting rod type for the AGV cart as set forth in claim 4, wherein: the jacking driving structure is arranged on the AGV chassis and located on one lateral side of the parallelogram connecting rod support, the jacking driving structure comprises a driving shaft, a push rod, a driving gear and a crank assembly, the driving gear is in transmission connection with the output end of the power source through the transmission structure, a central gear hole of the driving gear is embedded in the driving shaft, the driving shaft is longitudinally arranged and two axial ends of the driving shaft are respectively rotatably arranged on a supporting seat, the supporting seat is fixedly arranged on the AGV chassis, an opening groove extending along the radial direction is formed in the peripheral tooth surface of the driving gear, the driving shaft and the push rod are axially arranged in parallel and are always clamped into the opening groove, and two axial ends of the driving shaft and the push rod are respectively connected with a group of crank assemblies which are also connected with a top central shaft of the parallelogram connecting rod support on the adjacent side.

6. The rotary jacking device of the connecting rod type for the AGV trolley as claimed in claim 5, wherein: the crank assembly comprises a connecting piece and a crank, wherein the connecting piece is provided with a central shaft hole and an eccentric shaft hole eccentrically arranged on one side of the central shaft hole, two ends of the crank are respectively provided with a connecting shaft hole, the axial ends of the driving shaft and the axial ends of the pushing rod are respectively assembled with the central shaft hole and the eccentric shaft hole of the connecting piece, and the connecting shaft holes at two ends of the crank are respectively connected with the axial ends of the pushing rod and the top central shaft on the adjacent side.

7. The rotary jacking device of the connecting rod type for the AGV trolley as claimed in claim 5, wherein: two ends of a top central shaft, which are far away from one side of the jacking driving structure, in the top support assembly are respectively arranged at one end of a supporting connecting rod, and the other end of the supporting connecting rod is rotatably connected with a supporting seat positioned at the same longitudinal side.

8. The rotary jacking device of the connecting rod type for the AGV trolley as claimed in claim 5, wherein: the power supply is the pneumatic cylinder, the pneumatic cylinder pass through the base install in on the AGV chassis just the vertical setting up of guide arm end of pneumatic cylinder, transmission structure includes lifting sprocket, fixed sprocket and drive chain, the guide arm tip of pneumatic cylinder is equipped with the connecting block admittedly, install respectively at the longitudinal both ends of connecting block lifting sprocket, be equipped with vertical extension board on the base, install respectively at the longitudinal both ends of vertical extension board fixed sprocket, on the base and be located the longitudinal both sides of pneumatic cylinder and be provided with the chain fixing base respectively, drive chain's one end with the chain fixing base is fixed, the other end is fixed with drive gear, just the drive chain is around locating lifting sprocket, fixed sprocket and can with drive gear's profile of tooth face meshing.

9. The rotary jacking device of the connecting rod type for the AGV trolley as claimed in claim 5, wherein: the power source comprises a lifting driving motor and a speed reducer which are arranged on the AGV chassis through a motor base, wherein the power output end of the lifting driving motor is in transmission connection with the output end of the speed reducer, an output gear is connected to the power output end of the speed reducer in a shaft mode, and the output gear is meshed with the tooth-shaped surface of the driving gear of the lifting driving structure.

10. The rotary jacking device of a connecting rod for an AGV cart of claim 9 wherein: the open slot of the driving gear is a sector groove, and the push rod is always positioned in the sector groove.

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