CN208775702U - A kind of lifting device and automatic guide transport vehicle - Google Patents
A kind of lifting device and automatic guide transport vehicle Download PDFInfo
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- CN208775702U CN208775702U CN201821566930.3U CN201821566930U CN208775702U CN 208775702 U CN208775702 U CN 208775702U CN 201821566930 U CN201821566930 U CN 201821566930U CN 208775702 U CN208775702 U CN 208775702U
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Abstract
The embodiments of the present invention disclose a kind of lifting device and automatic guide transport vehicle, belong to storage transport field, can be improved the stability of lifting device.The lifting device includes parallelogram mechanism and guide mechanism；Wherein, the parallelogram mechanism includes first connecting rod, second connecting rod, third connecting rod and the fourth link that successively head and the tail are hinged, has table top in the fourth link, and the second connecting rod is connected with the constraint second connecting rod and does the constraint mechanism being translatable；The guide mechanism is connected with the parallelogram mechanism, guides the movement of the parallelogram mechanism.The automatic guide transport vehicle includes above-mentioned lifting device.The handling and transport of the utility model cargo suitable for storage field.
Description
Technical Field
The utility model relates to a storage transportation field especially relates to a lifting device and automatic guide transport vechicle.
Background
An automatic guided vehicle, also commonly referred to as an AGV, is a vehicle equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and requiring no driver's transportation vehicle in industrial applications, and using a rechargeable battery as its power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route can be set up by using an electromagnetic rail, which is adhered to the floor, and the unmanned transport vehicle can move and operate by means of the information brought by the electromagnetic rail. The AGVs are generally equipped with lifting devices that can automatically interface with other logistics equipment to automate the entire process of loading, unloading and transporting goods and materials.
The lifting device in the prior art mainly has the following problems if a hydraulic scissors fork is adopted to lift the goods to ascend or descend: the middle part of the scissors fork only has one fulcrum, and the stability is insufficient.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the utility model provides a lifting device and automatic guided transporting vehicle can improve lifting device's stability.
In order to achieve the above object, the embodiments of the present invention adopt the following technical solutions:
in a first aspect, an embodiment of the present invention provides a lifting device, including a parallelogram mechanism and a guide mechanism; the parallelogram mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially hinged end to end, wherein the fourth connecting rod is provided with a table top, and the second connecting rod is connected with a constraint mechanism which constrains the second connecting rod to do translational motion; the guide mechanism is connected with the parallelogram mechanism and used for guiding the motion of the parallelogram mechanism.
In a specific implementation manner of the embodiment of the present invention, the guiding mechanism includes a bracket, a first sliding groove is formed on the bracket, a first sliding block is disposed in the first sliding groove, and a hinge shaft, in which the first connecting rod and the fourth connecting rod are hinged to each other, is connected to the first sliding block; or the first sliding block is connected with the first connecting rod; or the first sliding block is connected with the fourth connecting rod.
In a specific implementation manner of the embodiment of the present invention, the first sliding groove is vertically disposed on the bracket.
The utility model discloses in a concrete implementation of embodiment, guiding mechanism includes the guide arm, the cover is equipped with along the second slider of guide arm sliding motion on the guide arm, first connecting rod and the mutual articulated shaft of fourth connecting rod with the second slider is connected.
In a specific implementation manner of the embodiment of the present invention, the constraint mechanism includes a fifth link and a sixth link; one end of the fifth connecting rod is hinged to the hinged position of the first connecting rod and the second connecting rod, and the other end of the fifth connecting rod is hinged to the first hinged support; one end of the sixth connecting rod is hinged at the hinged position of the second connecting rod and the third connecting rod, and the other end of the sixth connecting rod is hinged on the second hinged support; the fifth connecting rod and the sixth connecting rod are parallel to each other and have equal length.
In a specific implementation of the embodiment of the present invention, the fourth connecting rod is located at an upper side of the second connecting rod, and the fifth connecting rod and the sixth connecting rod are located at a lower side of the second connecting rod.
In a specific implementation of the embodiment of the present invention, the constraint mechanism includes a second chute, which is fixedly disposed, and the second connecting rod is disposed in the second chute and can be slid by the second chute.
In a specific implementation manner of the embodiment of the present invention, the parallelogram mechanism is connected with a power executing device.
In a second aspect, an embodiment of the present invention provides an automatic guided vehicle, which comprises a vehicle body, wherein the vehicle body is provided with a lifting device according to any one of the above embodiments.
The embodiment of the utility model provides a lifting device and an automatic guiding transport vehicle, which comprises a parallelogram mechanism and a guiding mechanism; the parallelogram mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially hinged end to end, wherein the fourth connecting rod is provided with a table top, and the second connecting rod is connected with a constraint mechanism which constrains the second connecting rod to do translational motion; the guide mechanism is connected with the parallelogram mechanism and used for guiding the motion of the parallelogram mechanism. The second connecting rod in the embodiment always translates under the action of the constraint mechanism, and by utilizing the principle of a parallelogram mechanism, the table top on the fourth connecting rod also always translates to stably lift the goods.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of a lifting device according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Example one
As shown in fig. 1, an embodiment of the present invention provides a lifting device, which includes a parallelogram mechanism and a guiding mechanism; the parallelogram mechanism comprises a first connecting rod 3, a second connecting rod 7, a third connecting rod 11 and a fourth connecting rod 12 which are sequentially hinged end to end, wherein the fourth connecting rod 12 is provided with a table top, and the second connecting rod 7 is connected with a constraint mechanism for constraining the second connecting rod 7 to do translation; the guide mechanism is connected with the parallelogram mechanism and used for guiding the motion of the parallelogram mechanism.
In this embodiment, the first connecting rod 3, the second connecting rod 7, the third connecting rod 11 and the fourth connecting rod 12 which are sequentially hinged end to end are: one end of the first connecting rod 3 is hinged with one end of the second connecting rod 7, the other end of the second connecting rod 7 is hinged with one end of the third connecting rod 11, the other end of the third connecting rod 11 is hinged with one end of the fourth connecting rod 12, and the other end of the fourth connecting rod 12 is hinged with one end, far away from the second connecting rod 7, of the first connecting rod 3. Four connecting rods are sequentially hinged end to form a parallelogram mechanism.
In this embodiment, the fourth link 12 having a table top thereon includes: the table top is a plane or a curved surface arranged on the fourth connecting rod, or the table top is arranged on a platform which is connected with the fourth connecting rod.
In this embodiment, the translation is: during the motion of the object, the connecting lines of any two points on the object before and after the motion are kept parallel, and the motion is called translation.
In this embodiment, the constraining mechanism for constraining the second connecting rod 7 to perform translational motion is: the second connecting rod 7 can translate under the constraint action of the constraint mechanism.
The second connecting rod in the embodiment translates under the action of the constraint mechanism, and by utilizing the principle of a parallelogram mechanism, the table top on the fourth connecting rod 12 also always translates to stably lift the goods, and the first connecting rod 3 and the third connecting rod 11 are respectively hinged with two ends of the second connecting rod 7, namely the lifting device has two supporting points, so that the stability of the lifting device is improved.
Optionally, the table top is a horizontal plane, so that the object can be lifted more stably.
It will be understood that the guiding means can be any means capable of guiding the parallelogram mechanism along a predetermined trajectory, and the constraining means can be any means capable of keeping the second link 7 in translation at all times.
Optionally, in another embodiment of the present invention, the guiding mechanism includes a bracket 2, a first sliding groove 15 is formed in the bracket 2, a first sliding block 1 is disposed in the first sliding groove 15, and a hinge shaft, which is formed by mutually hinging the first connecting rod 3 and the fourth connecting rod 12, is connected to the first sliding block 1; or, the first sliding block 1 is connected with the first connecting rod 3; alternatively, the first slider 1 is connected to the fourth link 12.
In this embodiment, when the first slider 1 is connected to the hinge shaft, and the parallelogram mechanism moves, because the hinge shaft of the first link 3 and the fourth link 12 that are hinged to each other is connected to the first slider 1, the hinge shaft of the first link 3 and the fourth link 12 that are hinged to each other can only move along the first sliding slot 15, and because the fourth link 12 is hinged to the hinge shaft and translates, the table top on the fourth link 12 translates along the first sliding slot 15. The guide mechanism guides the movement of the parallelogram mechanism and thus the movement of the table top.
In this embodiment, when the first slider 1 is connected to the first connecting rod 3 or the fourth connecting rod 12, the first sliding slot 15 may be a vertically arranged strip-shaped slot, or may be a sliding slot with other shapes; when the parallel four-bar linkage moves, the joint of the first connecting bar 3 or the fourth connecting bar 12 and the first sliding block 1 moves along the first sliding chute 15, so that the guide mechanism guides the movement of the parallel four-bar linkage, and further guides the movement of the table top. In practical application, the movement track of the table top can be preset, and the shape and the position of the first sliding groove 15 are determined according to the movement track of the table top, so that the aim of conforming to production and application is fulfilled.
Optionally, in an implementation manner of the embodiment of the present invention, the first sliding groove 15 is vertically disposed on the bracket 2.
In this embodiment, the first sliding slot 15 is vertically arranged to guide the fourth connecting rod 12 to translate along the vertical direction, so that the table top on the fourth connecting rod 12 only moves up and down along the vertical direction.
Optionally, when the lifting device is used for carrying cargoes up and down and carrying cargoes in the left-right direction, the first sliding groove 15 can be made into an inclined shape, an arc shape, a special-shaped sliding groove and the like according to actual needs.
Optionally, in an implementation manner of the embodiment of the present invention, the guiding mechanism includes a guide rod, a second slider sliding along the guide rod is sleeved on the guide rod, and the first connecting rod 3 and the fourth connecting rod 12 are mutually hinged to form a hinge shaft and are connected to the second slider.
In this embodiment, when the parallelogram mechanism moves, since the hinge shaft of the first link 3 and the fourth link 12 hinged to each other is connected to the second slider, the hinge shaft of the first link 3 and the fourth link 12 hinged to each other can only move along the guide rod, and since the fourth link 12 is hinged to the hinge shaft and translates, the table top on the fourth link 12 translates along the guide rod. The guide mechanism guides the movement of the parallelogram mechanism and thus the movement of the table top.
It should be clear that the specific structure of the guiding mechanism in this embodiment is illustrated for clarity of disclosure of this embodiment, and should not be construed as limiting the embodiment.
Optionally, in an implementation manner of the embodiment of the present invention, the constraint mechanism includes a fifth link 5 and a sixth link 9; one end of the fifth connecting rod 5 is hinged at a hinged part 6 of the first connecting rod 3 and the second connecting rod 7, and the other end of the fifth connecting rod is hinged on the first hinged support; one end of the sixth connecting rod 9 is hinged at the hinged part 10 of the second connecting rod 7 and the third connecting rod 11, and the other end is hinged on the second hinged support 14; the fifth connecting rod 5 and the sixth connecting rod 9 are parallel to each other and have equal length.
In this embodiment, the first and second hinged supports 14 may be disposed on the support 2, or may be disposed on an object on which the lifting device is mounted, such as a ground, a car body of an AGV car, or the like.
In this embodiment, it is understood that the fifth link 5 and the sixth link 9 are parallel to each other and have equal lengths, which means that: the connecting line of the hinge points at the two ends of the fifth connecting rod 5 and the connecting line of the hinge points at the two ends of the sixth connecting rod 9 are parallel to each other and have the same length. The length and shape of each of the fifth link 5 and the sixth link 9 should not be limited herein.
In this embodiment, the fifth connecting rod 5 hinged to the first hinged support, the sixth connecting rod 9 hinged to the second hinged support 14, and the second connecting rod 7, both ends of which are hinged to the fifth connecting rod 5 and the sixth connecting rod 9, respectively, form a parallelogram mechanism, and since the first hinged support and the second hinged support 14 are fixed, the second connecting rod 7 can only perform translation under the constraint action of the fifth connecting rod 5 and the sixth connecting rod 9. The constraint mechanism in the embodiment can only make the second connecting rod 7 perform translation by using two connecting rods, so that the constraint mechanism is simple in structure and convenient to use.
Alternatively, in another embodiment of the present invention, the fourth link 12 is located on the upper side of the second link 7, and the fifth link 5 and the sixth link 9 are located on the lower side of the second link 7.
In this embodiment, the parallelogram mechanism composed of the first link 3, the second link 7, the third link 11 and the fourth link 12 and the parallelogram mechanism composed of the fifth link 5, the second link 7, the sixth link 9 and the two hinged supports are deviated from each other, so that the stroke of the fourth link 12 relative to the two hinged supports can be increased, and the lifting stroke of the lifting device can be increased.
Optionally, in another implementation manner of the embodiment of the present invention, the constraint mechanism includes a second chute that is fixedly disposed, and the second link 7 is disposed in the second chute and can slide along the second chute.
In this embodiment, the second sliding groove may be disposed on the bracket 2, or may be disposed at a mounting position of the lifting device, such as on the ground, a car body of an AGV car, or the like.
In this embodiment, the second connecting rod 7 connected to the second chute in a sliding manner is always kept in a translational motion, so that the fourth connecting rod opposite to the second connecting rod is kept in a translational motion, and the table top on the fourth connecting rod is kept in a translational motion, so that the table top can stably lift the goods. The restraint mechanism in the embodiment is simple in structure and easy to control.
Optionally, the parallelogram mechanism is connected with a power executing device.
In this embodiment, the power executing device may be a hydraulic power device or an electric device. The power actuator may be connected to at least one link or at least one articulation of the parallelogram mechanism. The power execution device automatically drives the parallelogram mechanism to move, so that the labor capacity of people can be reduced, and the automation degree of the lifting device is improved.
Alternatively, the power actuator may be connected to the slider 1.
Optionally, the first connecting rod 3, the second connecting rod 7, the third connecting rod 11, the fourth connecting rod 12, the fifth connecting rod 5 and the sixth connecting rod 9 are hinged through a pin shaft, and the end of the pin shaft is connected with a clamp spring.
In this embodiment, the articulated department between the connecting rod all adopts round pin axle and jump ring to realize, has replaced the application of bolt and nut in articulated department to alleviateed the risk that the nut takes off in long-time operation process, and the dismouting maintenance cost of jump ring and round pin axle complex is lower.
Example two
An embodiment of the utility model provides an automatic direction transport vechicle, including the automobile body be equipped with any embodiment in the above-mentioned embodiment one on the automobile body lifting device.
The lifting device on the automatic guide transport vehicle in the embodiment has a plurality of hinged supporting points, so that the lifting is more stable.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A lifting device, characterized by: comprises a parallelogram mechanism and a guide mechanism; wherein,
the parallelogram mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially hinged end to end, the fourth connecting rod is provided with a table top, and the second connecting rod is connected with a constraint mechanism which constrains the second connecting rod to do translational motion;
the guide mechanism is connected with the parallelogram mechanism and used for guiding the motion of the parallelogram mechanism.
2. A lifting device according to claim 1, characterized in that: the guide mechanism comprises a support, a first sliding groove is formed in the support, a first sliding block is arranged in the first sliding groove, and a hinge shaft formed by mutually hinging a first connecting rod and a fourth connecting rod is connected with the first sliding block; or,
the first sliding block is connected with the first connecting rod; or,
the first sliding block is connected with the fourth connecting rod.
3. The lifting device of claim 2, wherein: the first sliding groove is vertically arranged on the support.
4. A lifting device according to claim 1, characterized in that: the guide mechanism comprises a guide rod, a second sliding block which slides along the guide rod is sleeved on the guide rod, and a hinge shaft which is mutually hinged with the first connecting rod and the fourth connecting rod is connected with the second sliding block.
5. A lifting device according to claim 1, characterized in that: the restraint mechanism comprises a fifth connecting rod and a sixth connecting rod; wherein,
one end of the fifth connecting rod is hinged at the hinged position of the first connecting rod and the second connecting rod, and the other end of the fifth connecting rod is hinged on the first hinged support;
one end of the sixth connecting rod is hinged at the hinged position of the second connecting rod and the third connecting rod, and the other end of the sixth connecting rod is hinged on the second hinged support;
the fifth connecting rod and the sixth connecting rod are parallel to each other and have equal length.
6. A lifting device according to claim 5, characterized in that: the fourth connecting rod is positioned at the upper side of the second connecting rod, and the fifth connecting rod and the sixth connecting rod are positioned at the lower side of the second connecting rod.
7. A lifting device according to claim 1, characterized in that: the restraint mechanism comprises a second chute which is fixedly arranged, and the second connecting rod is arranged in the second chute and can slide along the second chute.
8. A lifting device according to claim 1, characterized in that: the parallelogram mechanism is connected with a power executing device.
9. An automatic direction transport vechicle which characterized in that: comprising a body on which is arranged a lifting device according to any of the claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821566930.3U CN208775702U (en) | 2018-09-25 | 2018-09-25 | A kind of lifting device and automatic guide transport vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821566930.3U CN208775702U (en) | 2018-09-25 | 2018-09-25 | A kind of lifting device and automatic guide transport vehicle |
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| CN208775702U true CN208775702U (en) | 2019-04-23 |
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| CN201821566930.3U Active CN208775702U (en) | 2018-09-25 | 2018-09-25 | A kind of lifting device and automatic guide transport vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271991A (en) * | 2019-07-25 | 2019-09-24 | 北京旷视机器人技术有限公司 | Lift linkage and automated guided vehicle |
| CN110626984A (en) * | 2019-11-06 | 2019-12-31 | 北京旷视机器人技术有限公司 | Lifting device and carrier |
| CN111115137A (en) * | 2019-12-27 | 2020-05-08 | 北京旷视机器人技术有限公司 | Chassis assembly and transfer robot |
| CN112857765A (en) * | 2021-01-13 | 2021-05-28 | 上海春齐机械设备有限公司 | Hydraulic support comprehensive performance experimental device |
| WO2021208747A1 (en) * | 2020-04-17 | 2021-10-21 | 杭州海康机器人技术有限公司 | Lifting device, and automated guided transport vehicle |
-
2018
- 2018-09-25 CN CN201821566930.3U patent/CN208775702U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271991A (en) * | 2019-07-25 | 2019-09-24 | 北京旷视机器人技术有限公司 | Lift linkage and automated guided vehicle |
| CN110626984A (en) * | 2019-11-06 | 2019-12-31 | 北京旷视机器人技术有限公司 | Lifting device and carrier |
| CN111115137A (en) * | 2019-12-27 | 2020-05-08 | 北京旷视机器人技术有限公司 | Chassis assembly and transfer robot |
| WO2021208747A1 (en) * | 2020-04-17 | 2021-10-21 | 杭州海康机器人技术有限公司 | Lifting device, and automated guided transport vehicle |
| CN112857765A (en) * | 2021-01-13 | 2021-05-28 | 上海春齐机械设备有限公司 | Hydraulic support comprehensive performance experimental device |
| CN112857765B (en) * | 2021-01-13 | 2023-03-21 | 上海春齐机械设备有限公司 | Hydraulic support comprehensive performance experimental device |
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Address after: 310051 Floor 5, Building 1, Building 2, No. 700, Dongliu Road, Binjiang District, Hangzhou, Zhejiang Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310051 Floor 5, Building 1, Building 2, No. 700, Dongliu Road, Binjiang District, Hangzhou, Zhejiang Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |
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