CN115231479A - Synchronous lifting mechanism and ground ox AMR with same - Google Patents
Synchronous lifting mechanism and ground ox AMR with same Download PDFInfo
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- CN115231479A CN115231479A CN202210924119.2A CN202210924119A CN115231479A CN 115231479 A CN115231479 A CN 115231479A CN 202210924119 A CN202210924119 A CN 202210924119A CN 115231479 A CN115231479 A CN 115231479A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to a synchronous lifting mechanism and a navy AMR with the same, wherein the synchronous lifting mechanism is integrally suitable for being arranged in any fork tube of the navy AMR and comprises a transmission unit and a lifting unit; the transmission unit comprises a transmission rod; the transmission rod can do linear reciprocating motion; the plurality of lifting units are distributed along the axis of the transmission rod; each lifting unit comprises a first supporting arm and a second supporting arm; the axis of the first support arm is obliquely arranged; the axis of the second support arm is also obliquely arranged and is crossed with the axis of the first support arm, and the higher end of the second support arm is rotatably connected with the middle part of the first support arm; the lower end of the first support arm of each lifting unit is rotatably connected with the transmission rod and can move along with the transmission rod, so that the upper end can move up and down.
Description
Technical Field
The invention relates to the technical field of underground cattle AMR, in particular to a synchronous lifting mechanism and an underground cattle AMR with the same.
Background
The underground ox, also called manual hydraulic carrier, is a convenient, flexible, heavy-duty and durable goods carrier. In a plurality of process links in fields such as manufacturing and storage commodity circulation, it can assist the manpower to carry out the transfer of goods position, can use manpower sparingly greatly, and it is long to reduce the goods position and shift consuming time. With the development of automation and intelligence in the warehousing industry, the antomatic Mobile Robot AMR (automated Mobile Robot) was produced, which can further save manpower. AMR of a ground cow integrates functions of environment perception, dynamic path planning, behavior control, execution and the like, is different from an AGV (automatic Guided Vehicle), has a visual navigation mode or/and a laser navigation mode, is higher in positioning accuracy, higher in flexibility degree, strong in self-obstacle avoidance capability, stronger in adaptability to a scene, and does not need to construct and modify the use scene. The multi-equipment cooperative operation mode and the man-machine cooperative operation mode can be realized, and the requirement of machine cluster scheduling is met.
The ox AMR of ground includes usually that the goods breeches pipe is equipped with the board of lifting on the top of goods breeches pipe with lifting mechanism, lifts the board and can reciprocate to the goods that drive on tray and the tray reciprocates. In order to meet the requirements of compact overall structure and small space required by operation of the AMR, the lifting mechanism is often arranged in the fork tube. However, the space available in the two fork tubes is limited and the lifting mechanism is forced to take the form of four sets of hydraulic cylinders, two sets of which are arranged in one of the fork tubes for driving the lifting plate of one of the fork tubes to move up and down. And the other two hydraulic cylinders are arranged in the other fork tube and used for driving the lifting plate of the other fork tube to move up and down. The four groups of hydraulic cylinders are respectively and independently controlled. In the process of lifting the tray, the goods on the tray often have the focus offset phenomenon, and higher synchronism is hardly realized again to four groups of pneumatic cylinders, can not ensure a plurality of point positions of lifting plate to go up and down in step, just can aggravate the slope trend of goods, takes place the goods phenomenon of toppling over even, and is extremely dangerous.
Therefore, how to synchronously lift a plurality of point positions of the lifting plate on the premise of occupying a small space becomes a technical problem to be solved urgently by the technical personnel in the field.
Disclosure of Invention
The invention provides a synchronous lifting mechanism and a ground Newton AMR with the same, aiming at solving the problem that a plurality of point positions of a lifting plate cannot be lifted synchronously.
The invention provides a synchronous lifting mechanism for realizing the aim, which is integrally suitable for being installed in any fork tube of an AMR of a ground cattle, and comprises:
the device comprises a transmission unit and a lifting unit;
the transmission unit comprises a transmission rod; the transmission rod can do linear reciprocating motion;
the plurality of lifting units are distributed along the axis of the transmission rod; each lifting unit comprises a first supporting arm and a second supporting arm;
the axis of the first supporting arm is obliquely arranged;
the axis of the second supporting arm is also obliquely arranged and is crossed with the axis of the first supporting arm, and the higher end of the second supporting arm is rotationally connected with the middle part of the first supporting arm;
the lower end of the first supporting arm of each lifting unit is rotatably connected with the transmission rod and can move along with the transmission rod, so that the higher end can move up and down.
In some specific embodiments, the number of the transmission rods is two, and the axes are arranged in parallel;
each lifting unit comprises two first supporting arms and two second supporting arms;
the two first supporting arms are arranged between the two transmission rods, the axes of the two first supporting arms are parallel to each other, the lower end of one of the two first supporting arms is rotationally connected with one of the transmission rods, and the lower end of the other one of the two first supporting arms is rotationally connected with the other transmission rod;
two second support arms are all located between two first support arms, and the axis is parallel to each other, and the higher end of one of them is rotated with the middle part of one of them first support arm and is connected, and the higher end of another is rotated with the middle part of another first support arm and is connected.
In some embodiments, each lifting unit further comprises a guide rail and a slide block;
the guide rail is laid between the two first supporting arms, and the length direction of the guide rail is parallel to the plane where the axes of the first supporting arms are located;
the sliding block is connected to the guide rail in a sliding mode, and two opposite ends of the sliding block are respectively connected with the lower ends of the two first supporting arms in a rotating mode.
In some embodiments, each of the lifting units further comprises a lifting plate;
the opposite ends of the lifting plate are respectively connected with the higher ends of the two first supporting arms in a rotating way.
In some embodiments, the transmission unit further comprises a push rod and a reinforcing rod;
the push rod is arranged at one common end of the two transmission rods, and the two ends of the push rod are respectively fixedly connected with one ends of the two transmission rods;
the common other end of two transfer lines is located to the stiffener, both ends respectively with the other end fixed connection of two transfer lines.
In some specific embodiments, the device further comprises a hydraulic oil cylinder;
the hydraulic cylinder is arranged on one side of the push rod, which is far away from the transmission rod, and the output shaft is fixedly connected with the push rod.
The AMR of the land cattle with the synchronous lifting mechanism based on the same concept comprises a fork tube, a frame and the synchronous lifting mechanism provided by any one of the specific embodiments;
the two fork tubes are of long-strip hollow structures, the axes of the fork tubes are arranged in parallel, and the tops of the fork tubes are respectively provided with a lifting plate;
the frame is arranged at one common end of the two cargo fork tubes, and the two opposite ends of the bottom of one side surface are respectively and fixedly connected with one ends of the two cargo fork tubes;
two synchronous lifting mechanisms are arranged; one synchronous lifting mechanism is arranged in one fork tube, the higher end of the first supporting arm of each lifting unit is rotatably connected with the bottom end of one lifting plate, and the lower end of the second supporting arm of each lifting unit is rotatably connected with two opposite side walls of one fork tube through a rotating shaft; another synchronous lifting mechanism is arranged in another fork tube, the higher end of the first supporting arm of each lifting unit is rotatably connected with the bottom end of another lifting plate, and the lower end of the second supporting arm of each lifting unit is rotatably connected with the two opposite side walls of another fork tube through a rotating shaft.
In some of these embodiments, a baffle and a seating detector are also included;
the baffle is arranged on one side of the frame close to the synchronous lifting mechanism, and the two opposite ends of the bottom are respectively fixedly connected with one ends of the two lifting plates;
the two in-position detectors are respectively fixed at two opposite ends of one side surface of the baffle plate far away from the frame.
The invention has the beneficial effects that: the synchronous lifting mechanism of the invention occupies a small space and can be installed in any fork tube of the AMR of the ground cattle. The transfer line can be followed the length direction of lifting plate and made straight reciprocating motion to the lower extreme that drives the first support arm of every unit of lifting removes, and then makes the higher extreme of the first support arm of every unit of lifting reciprocate, thereby makes a plurality of position synchronous lift of same lifting plate. The second supporting arm of each lifting unit can effectively improve the stability of the first supporting arm in the motion process. On the whole, the first support arm that transfer line, a plurality of unit of lifting and a plurality of second support arm that lift the unit combine together for in limited installation space, a plurality of positions of same board of lifting can steadily go up and down in step, guarantee as far as possible that same board of lifting is in same horizontal plane all the time, avoid the slope trend of the goods on the aggravation tray, reduced the operation danger coefficient effectively.
Drawings
FIG. 1 is a schematic diagram of some embodiments of a synchronized lift mechanism of the present invention;
FIG. 2 is a schematic view of the synchronous lifting mechanism shown in FIG. 1 from another perspective;
FIG. 3 is a schematic diagram of some embodiments of a lift unit of the synchronous lift mechanism of FIG. 1;
FIG. 4 is a schematic diagram of some embodiments of an AMR of a marine vehicle with a synchronous lifting mechanism according to the present invention;
FIG. 5 is a partial enlarged view of area A in FIG. 4;
fig. 6 is a schematic diagram of other embodiments of a metro AMR with a synchronized lifting mechanism of the present invention.
In the drawing, 100, a synchronous lifting mechanism; 110. a transmission unit; 111. a transmission rod; 112. a push rod; 113. a reinforcing bar; 120. a lifting unit; 121. a first support arm; 122. a second support arm; 123. a guide rail; 124. a slider; 125. a lifting plate; 130. a hydraulic cylinder; 140. a high proximity switch; 150. a low proximity switch; 160. a cargo fork tube; 161. a lifting plate; 200. a frame; 300. a baffle plate; 400. a detector is in place.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "top," "bottom," "inner," "outer," "axial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention or for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "secured," "engaged," "hinged," and the like are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other suitable relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, 2 and 3, a synchronized lifting mechanism 100, integrally adapted to be installed in any fork tube 160 of a metro AMR, includes a driving unit 110 and a lifting unit 120. Wherein, the transmission unit 110 includes a transmission rod 111, and the transmission rod 111 can reciprocate linearly. The lifting units 120 are distributed along the axis of the transmission rod 111. Each lifting unit 120 comprises a first supporting arm 121 and a second supporting arm 122, the axis of the first supporting arm 121 is obliquely arranged, the axis of the second supporting arm 122 is also obliquely arranged and is intersected with the axis of the first supporting arm 121, and the higher end of the second supporting arm is rotatably connected with the middle part of the first supporting arm 121. The lower end of the first support arm 121 of each lifting unit 120 is rotatably connected to the driving rod 111 and can move along with the driving rod 111, so that the upper end can move up and down.
In this embodiment, the synchronous lifting mechanism 100 occupies a small space and can be installed in any fork tube 160 of the metro AMR. It should be noted that each of the lifting plates 161 of the AMR is an elongated structure, the transmission rod 111 extends along the length direction of the lifting plate 161, and the upper ends of the first support arms 121 of a plurality of lift units 120 can act on a plurality of points of the same lifting plate 161. Specifically, the transmission rod 111 can reciprocate linearly along the length direction of the lifting plate 161, and drives the lower end of the first support arm 121 of each lifting unit 120 to move, so as to move the higher end of the first support arm 121 of each lifting unit 120 up and down, thereby synchronously lifting a plurality of points of the same lifting plate 161. The second supporting arm 122 of each lifting unit 120 can effectively improve the smoothness of the movement of the first supporting arm 121. On the whole, the transfer line 111, the first support arm 121 of a plurality of lift units 120 and the second support arm 122 of a plurality of lift units 120 combine together, in limited installation space for a plurality of positions of same board 161 that lifts can steadily go up and down in step, and the same board 161 that lifts is in same horizontal plane all the time as far as possible ensures, avoids the slope trend of the goods on the aggravation tray, has reduced the operation risk coefficient effectively.
In some embodiments of the present invention, there are two lifting units 120, one of which is disposed at one end of the transmission rod 111, and the other of which is disposed at the other end of the transmission rod 111.
In some embodiments of the present invention, there are two transmission rods 111, and the axes are parallel. Each of the lifting units 120 comprises two first support arms 121 and two second support arms 122. The two first support arms 121 are disposed between the two transmission rods 111 and have parallel axes, wherein a lower end of one of the two first support arms is rotatably connected to one of the transmission rods 111, and a lower end of the other one of the two first support arms is rotatably connected to the other transmission rod 111. The two second support arms 122 are disposed between the two first support arms 121, and the axes are parallel to each other, wherein a higher end of one of the second support arms is rotatably connected to the middle of one of the first support arms 121, and a higher end of the other second support arm is rotatably connected to the middle of the other first support arm 121. Therefore, the running stability of the synchronous lifting mechanism 100 is further improved, and a plurality of point positions of the same lifting plate 161 can be lifted stably and synchronously.
In some embodiments of the present invention, each of the lifting units 120 further comprises a guide rail 123 and a slider 124. The guide rail 123 is laid between the two first support arms 121, and the length direction of the body is parallel to the plane of the axis of the first support arm 121. The slider 124 is slidably connected to the guide rail 123, and opposite ends thereof are rotatably connected to lower ends of the two first support arms 121, respectively. The guide rail 123 is matched with the sliding block 124, and plays a role in correcting the motion direction of each lifting unit 120, so that the same lifting plate 161 can vertically move up and down, collision among parts is avoided, and the service life of the synchronous lifting mechanism 100 is prolonged.
In some embodiments of the present invention, each of the lifting units 120 further includes a lifting plate 125, and opposite ends of the lifting plate 125 are respectively rotatably connected to the upper ends of the two first support arms 121 of the same lifting unit 120. Threaded holes are formed in the lifting plate 125 of each lifting unit 120, correspondingly, threaded holes are also formed in the lifting plate 161, and the lifting plate 125 and the lifting plate 161 are fixedly connected through the threaded holes by screws. The lifting plate 125 effectively increases the contact area between each lifting unit 120 and the lifting plate 161, and further effectively increases the connection stability between each lifting unit 120 and the lifting plate 161, and enables the lifting force to be stably transmitted, thereby facilitating the stable synchronous lifting of multiple points of the same lifting plate 161.
In some embodiments of the present invention, the transmission unit 110 further includes a push rod 112 and a reinforcing rod 113. The push rod 112 is disposed at one end of the two transmission rods 111, and both ends of the push rod are fixedly connected to one ends of the two transmission rods 111. The same push rod 112 pushes the two transmission rods 111 to translate. The reinforcing rod 113 is arranged at the other common end of the two transmission rods 111, and two ends of the reinforcing rod are respectively fixedly connected with the other ends of the two transmission rods 111, so that the stability of the whole structure of the transmission unit 110 can be effectively improved, and the transmission unit 110 is not easy to fall apart.
Referring to fig. 5, in some embodiments of the present invention, the synchronous lift mechanism 100 further comprises a hydraulic cylinder 130, a high proximity switch 140, a low proximity switch 150, and a controller. The hydraulic cylinder 130 is disposed on a side of the push rod 112 away from the transmission rod 111, the output shaft is fixedly connected to the push rod 112, and the hydraulic cylinder 130 drives the push rod 112 and the two transmission rods 111 to move, so as to drive the lower ends of the two first support arms 121 of each lift unit 120 to move. The high-order proximity switch 140 is provided on the push lever 112 on the side closer to the transmission lever 111, and can be brought into contact with the push lever 112. The low proximity switch 150 is provided on the push lever 112 on the side away from the transmission lever 111, and can be abutted against the push lever 112. The controller is electrically connected to the hydraulic cylinder 130, the high-position proximity switch 140, and the low-position proximity switch 150, respectively. When the pushing rod 112 abuts against the high-position proximity switch 140, the high-position proximity switch 140 transmits a signal to the controller, the controller controls the hydraulic oil cylinder 130 to stop working, and at this time, the lifting plate 161 does not lift any more. When the pushing rod 112 abuts against the low-position proximity switch 150, the low-position proximity switch 150 transmits a signal to the controller, the controller controls the hydraulic oil cylinder 130 to stop working, and at this time, the lifting plate 161 does not continuously descend any more.
Referring to fig. 4, 5 and 6, a geostationary AMR with a synchronized lifting mechanism 100 comprises a fork tube 160, a carriage 200 and the synchronized lifting mechanism 100 provided in any of the above embodiments. Wherein, the fork tube 160 is two, and is rectangular hollow structure, and the axis sets up side by side, and the top is equipped with a board 161 that lifts respectively. The frame 200 is arranged at one common end of the two fork tubes 160, the two opposite ends of the bottom of one side face are fixedly connected with one ends of the two fork tubes 160 respectively, and a controller and a lithium battery are fixed in the frame 200. The number of the synchronous lifting mechanisms 100 is two, one of the synchronous lifting mechanisms 100 is arranged in one of the fork tubes 160, and the other synchronous lifting mechanism 100 is arranged in the other fork tube 160. The upper end of the first support arm 121 of each of the lifting units 120 of one of the synchronized lifting mechanisms 100 is pivotally connected to the bottom end of one of the lifting plates 161, and the lower end of the second support arm 122 of each of the lifting units 120 is pivotally connected to opposite sidewalls of one of the fork tubes 160. The upper end of the first support arm 121 of each lifting unit 120 of one of the synchronous lifting mechanisms 100 is rotatably connected to the bottom end of the other lifting plate 161, and the lower end of the second support arm 122 of each lifting unit 120 is rotatably connected to the opposite side walls of the other fork tube 160 via a rotating shaft. Specifically, the upper ends of the two first support arms 121 of each lifting unit 120 of one of the synchronous lifting mechanisms 100 are respectively rotatably connected to the opposite ends of one of the lifting plates 125. Threaded holes are formed in each of the lifting plates 125, and correspondingly, threaded holes are formed in one of the lifting plates 161, through which the one of the lifting plates 161 and each of the lifting plates 125 of one of the synchronized lifting mechanisms 100 are fixedly coupled using screws. The upper ends of the two first support arms 121 of each lifting unit 120 of the other synchronous lifting mechanism 100 are also rotatably connected to the opposite ends of a lifting plate 125, respectively. The other lifting plate 161 and each lifting plate 125 of the other synchronized lifting mechanism 100 are fixedly connected by screws through the screw holes.
In this embodiment, one of the synchronized lifting mechanisms 100 can actuate the lifting plate 161 of one of the forks 160 to move up and down, and the other synchronized lifting mechanism 100 can actuate the lifting plate 161 of the other fork 160 to move up and down. On the whole, on the premise of not increasing the installation space, one of the synchronous lifting mechanisms 100 enables a plurality of points of one of the lifting plates 161 to be lifted stably and synchronously, and it is ensured that one of the lifting plates 161 is always in the same horizontal plane as much as possible. Another synchronous lifting mechanism 100 makes a plurality of point positions of another lifting plate 161 lift steadily and synchronously, ensures as far as possible that another lifting plate 161 is always in the same horizontal plane, avoids aggravating the inclination trend of the goods on the tray, and effectively reduces the operation risk coefficient.
In some embodiments of the present invention, the AMR further comprises a baffle 300 and a position detector 400, the baffle 300 is disposed on one side of the frame 200 close to the synchronous lifting mechanism 100, and two opposite ends of the bottom are respectively fixedly connected to one ends of the two lifting plates 161. The seating detectors 400 are two and are respectively fixed to opposite ends of one side of the barrier 300 away from the frame 200. Baffle 300 can play limiting displacement to the tray, prevents that the tray from bumping with frame 200. The in-position detector 400 can timely detect that the navy AMR is in butt joint with the tray, so that collision between the tray and the baffle 300 of the navy AMR is avoided, and the service life of the navy AMR is prolonged. Specifically, each in-position detector 400 includes one detection unit and one trigger unit. Here, when the berm AMR is operated, both the fork tubes 160 can be inserted into the lower side of the tray, and the baffle 300 moves toward the tray along with the fork tubes 160. The detection unit is adapted to be mounted on a side of the baffle 300 adjacent the fork tube 160. The trigger unit comprises a pressed plate and a trigger plate, the pressed plate is obliquely arranged, and one side face of the pressed plate faces the detection unit and can swing to the detection unit. The trigger plate is fixed on one side surface of the pressed plate facing the detection unit, can swing towards the detection unit along with the pressed plate, and triggers the detection unit. Specifically, the detecting unit is a photoelectric sensor, is integrally of a U-shaped structure, is provided with a detecting groove in the middle, and can accommodate the trigger plate. One end of the detection unit is provided with a light emitter, the opposite end is provided with a light receiver, and the light emitter and the light receiver are arranged oppositely. The light emitter can emit infrared light or visible light. When the trigger plate is not abutted into the detection groove, the light receiver can receive light from the light generator; when the trigger plate abuts into the detection groove, the light receiver can not receive light from the light generator any more. The photoelectric switch acts to output a switch control signal to cut off or switch on the load current, thereby completing a control action. The photoelectric sensor has little limitation on the object to be measured, and does not limit the material of the object to be measured. During detection, the response time is short, the resolution ratio is high, non-contact detection can be realized, and the service life of the device is effectively prolonged. When the AMR is operated, the barrier 300 moves toward the tray along with the fork 160. Before one side of the tray collides with the baffle 300, one side of the tray first abuts against one side of the pressure-receiving plate away from the detection unit. As the in-position detector 400 continues to move with the prongs 160 toward the tray, the tray forces the pressure receiving plate to swing, the swinging pressure receiving plate drives the trigger plate to move toward the detection slot and trigger the detection unit. Here, it should be noted that each fork tube 160 is further provided with a traveling mechanism, and the controller in the frame 200 is electrically connected to the detection unit and each traveling mechanism, respectively, and can control whether the traveling mechanism operates according to a detection signal of the detection unit, so as to control whether the AMR stops. The detection unit, the pressed plate and the trigger plate are matched, so that the underground AMR can be detected to be in place in a butt joint mode with the tray in time, the tray is prevented from colliding with the baffle 300 of the underground AMR, and the service life of the underground AMR can be prolonged.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," "one specific embodiment," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic representation of terms does not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the equivalent alternatives or modifications within the scope of the present invention, the technical solution of the present invention and the inventive concept thereof.
Claims (8)
1. A synchronized lifting mechanism adapted for unitary mounting within any of the fork tubes of an AMR of a subterranean vehicle, comprising:
the device comprises a transmission unit and a lifting unit;
the transmission unit comprises a transmission rod; the transmission rod can do linear reciprocating motion;
the plurality of lifting units are distributed along the axis of the transmission rod; each lifting unit comprises a first supporting arm and a second supporting arm;
the axis of the first support arm is obliquely arranged;
the axis of the second supporting arm is also obliquely arranged and is crossed with the axis of the first supporting arm, and the higher end of the second supporting arm is rotationally connected with the middle part of the first supporting arm;
the lower end of the first supporting arm of each lifting unit is rotatably connected with the transmission rod and can move along with the transmission rod, so that the upper end can move up and down.
2. The synchronous lifting mechanism according to claim 1, wherein the number of the transmission rods is two, and the axes are arranged in parallel;
each lifting unit comprises two first supporting arms and two second supporting arms;
the two first support arms are arranged between the two transmission rods, the axes of the two first support arms are parallel to each other, the lower end of one of the two first support arms is rotatably connected with one of the transmission rods, and the lower end of the other one of the two first support arms is rotatably connected with the other transmission rod;
two the second support arm all locates two between the first support arm, and the axis is parallel to each other, and one of them higher end and one of them the middle part of first support arm is rotated and is connected, another higher end and another the middle part of first support arm is rotated and is connected.
3. The synchronized lift mechanism of claim 2, wherein each of said lift units further comprises a rail and a slide;
the guide rail is laid between the two first support arms, and the body length direction of the guide rail is parallel to the plane where the axes of the first support arms are located;
the sliding block is connected to the guide rail in a sliding mode, and two opposite ends of the sliding block are respectively connected with the lower ends of the two first supporting arms in a rotating mode.
4. The synchronized lift mechanism of claim 2, wherein each of said lift units further comprises a lift plate;
the two opposite ends of the lifting plate are respectively connected with the higher ends of the two first supporting arms in a rotating mode.
5. The synchronized lifting mechanism of claim 2, wherein said transmission unit further comprises a push rod and a reinforcing rod;
the push rod is arranged at one common end of the two transmission rods, and two ends of the push rod are fixedly connected with one ends of the two transmission rods respectively;
the reinforcing rod is arranged at the other common end of the two transmission rods, and two ends of the reinforcing rod are fixedly connected with the other ends of the two transmission rods respectively.
6. The synchronous lifting mechanism of claim 5, further comprising a hydraulic ram;
the hydraulic oil cylinder is arranged on one side of the push rod, which is far away from the transmission rod, and the output shaft is fixedly connected with the push rod.
7. AMR for a land craft with a synchronous lifting mechanism, comprising a fork tube, a carriage and a synchronous lifting mechanism according to any of claims 1 to 6;
the two fork tubes are of long-strip hollow structures, the axes of the fork tubes are arranged in parallel, and the tops of the fork tubes are respectively provided with a lifting plate;
the frame is arranged at one common end of the two fork tubes, and two opposite ends of the bottom of one side surface are respectively and fixedly connected with one ends of the two fork tubes;
the number of the synchronous lifting mechanisms is two; one of the synchronous lifting mechanisms is arranged in one of the fork tubes, the higher end of the first supporting arm of each lifting unit is rotatably connected with the bottom end of one of the lifting plates, and the lower end of the second supporting arm of each lifting unit is rotatably connected with two opposite side walls of one of the fork tubes through a rotating shaft; another synchronous lifting mechanism locates another in the fork pipe, every lift the unit the higher end of first support arm is with another the bottom of lifting plate is rotated and is connected, every lift the unit the lower end of second support arm passes through pivot and another the relative both sides wall of fork pipe rotates and is connected.
8. AMR of a geostationary lift with synchronous lifting mechanism according to claim 7, further comprising a baffle and a position detector;
the baffle is arranged on one side of the frame close to the synchronous lifting mechanism, and the two opposite ends of the bottom are respectively fixedly connected with one end of each of the two lifting plates;
the two in-position detectors are respectively fixed at two opposite ends of one side surface of the baffle plate, which is far away from the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210924119.2A CN115231479A (en) | 2022-08-02 | 2022-08-02 | Synchronous lifting mechanism and ground ox AMR with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210924119.2A CN115231479A (en) | 2022-08-02 | 2022-08-02 | Synchronous lifting mechanism and ground ox AMR with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115231479A true CN115231479A (en) | 2022-10-25 |
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| CN202210924119.2A Pending CN115231479A (en) | 2022-08-02 | 2022-08-02 | Synchronous lifting mechanism and ground ox AMR with same |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208166467U (en) * | 2018-02-11 | 2018-11-30 | 杭州易动机器人技术有限公司 | A kind of handling device |
| CN111498749A (en) * | 2020-06-02 | 2020-08-07 | 冠鸿(苏州)智能科技有限公司 | Ox type AGV fork truck |
| CN112850552A (en) * | 2020-12-31 | 2021-05-28 | 杭州海康机器人技术有限公司 | Carrying device and cargo carrying method |
| CN217756768U (en) * | 2022-08-02 | 2022-11-08 | 法睿兰达科技(武汉)有限公司 | Synchronous lifting mechanism and underground ox AMR with same |
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- 2022-08-02 CN CN202210924119.2A patent/CN115231479A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208166467U (en) * | 2018-02-11 | 2018-11-30 | 杭州易动机器人技术有限公司 | A kind of handling device |
| CN111498749A (en) * | 2020-06-02 | 2020-08-07 | 冠鸿(苏州)智能科技有限公司 | Ox type AGV fork truck |
| CN112850552A (en) * | 2020-12-31 | 2021-05-28 | 杭州海康机器人技术有限公司 | Carrying device and cargo carrying method |
| CN217756768U (en) * | 2022-08-02 | 2022-11-08 | 法睿兰达科技(武汉)有限公司 | Synchronous lifting mechanism and underground ox AMR with same |
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