CN209276090U

CN209276090U - A kind of automated guided vehicle

Info

Publication number: CN209276090U
Application number: CN201821918508.XU
Authority: CN
Inventors: 郑德超; 周立峰; 张耀光; 宗保玲
Original assignee: Weifang Lokomo Precision Industry Co Ltd
Current assignee: Weifang Lokomo Precision Industry Co Ltd
Priority date: 2018-11-20
Filing date: 2018-11-20
Publication date: 2019-08-20
Anticipated expiration: 2028-11-20

Abstract

The utility model discloses a kind of automated guided vehicles, comprising: support assembly, walking power assembly are configured as driving supporting mechanism table top uplink of being expert at and walk；Yoke mechanism is supported at least two supporting mechanisms；Lifting mechanism, hoisting mechanism, the lifting mechanism are arranged on supporting mechanism, and are configured as under the driving of hoisting mechanism the yoke mechanism being supported on supporting mechanism jacking up scheduled height.A kind of automated guided vehicle of the utility model, using the structure of fork arm type equal, cargo is forked by way of yoke, the general tray largely used in conjunction with different production units, so as to which the material of different size is transferred on pallet, and be transported through by the automated guided vehicle, effectively increase the versatility of AGV.

Description

A kind of automated guided vehicle

Technical field

The utility model belongs to AGV transport field, more specifically, the utility model relates to a kind of automated guided vehicles.

Background technique

AGV is the abbreviation of (Automated Guided Vehicle), implies that " automated guided vehicle ", equipped with certainly Dynamic guiding device, enables it to travel along defined guide path, the transport vehicle with safeguard protection and various transfer functions. A kind of transport vehicle of the AGV as automatic running, has been commonly applied in the logistics systems such as intelligent storage.

In the production process for carrying out cargo carrying using AGV at present, the material carried in different workshops is different, and object The mode of transport of material is also different.The adaptability of traditional AGV is limited and needs to customize different AGV or specific material frame, leads to It is poor with property.

Utility model content

One purpose of the utility model is to provide a kind of new solution of automated guided vehicle.

It is according to the present utility model in a first aspect, providing a kind of automated guided vehicle, comprising:

Support assembly, including at least two parallel arrangements and in the supporting mechanism of arm-type extension；

It walks power assembly, is configured as driving supporting mechanism table top uplink of being expert at and walks；

Yoke mechanism, including at least two yokes and the linking arm that yoke links together；At least two fork Arm is configured to support at least two supporting mechanisms；

Lifting mechanism, hoisting mechanism, the lifting mechanism is arranged on supporting mechanism, and is configured as in hoisting mechanism The yoke mechanism being supported on supporting mechanism is jacked up into scheduled height under driving.

Optionally, the supporting mechanism includes support arm and is supported at least partly support arm on walking table top extremely A few support assembly；The support assembly includes the walking wheel support being rotatably connected on support arm, and is mounted on walking Traveling wheel on wheel support；The walking wheel support is configured as relative to support arm towards the side far from or close to walking table top To rotation；

Further include the elastic device being arranged between walking wheel support and support arm, the elastic device is configured as: for Walking wheel support provides the pretightning force toward the rotation of walking table top direction.

Optionally, the support assembly is provided with one, positioned at front position of the support arm on direction of travel.

Optionally, there are two support assembly settings, be located at front position of the support arm on direction of travel with And back-end location.

Optionally, one end of the walking wheel support is rotatably connected on support arm, and the traveling wheel is arranged in traveling wheel The other end of bracket, and be used to support and be expert on table top.

Optionally, the elastic device includes the elastic device shell of tubular, and by spring pre-tightening in elastic device The intracorporal telescopic rod of shell, the telescopic rod are configured as the stretching motion in elastic device shell；One end of the telescopic rod from It stretches out in elastic device shell and is rotatably connected with walking wheel support, the elastic device shell and support arm rotation connect It is connected together.

Optionally, being additionally provided on the support arm prevents walking wheel support toward far from walking table top direction inordinate rotation Check plate.

Optionally, the walking power assembly includes the motor being sequentially arranged along supporting mechanism extending direction, retarder, turns To gear-box；The motor is connect with retarder；The input axis connection of the retarder and steering box；In steering box Output shaft on be provided with for drive supporting mechanism walk walking driver gear；

The input shaft of the steering box is located on the extending direction of supporting mechanism, and the output shaft of steering box hangs down Directly in the extending direction of supporting mechanism；The power that the steering box is configured as being inputted on axis is transferred to its output shaft On.

Optionally, the steering box includes gear box casing, and the input shaft, output shaft are rotated by bearing respectively It is connected in gear box casing, is sequentially connected between the input shaft, output shaft by bevel gear set.

Optionally, the input shaft is mounted in gear box casing by pairs of angular contact bearing；Or/and it is described defeated Shaft is mounted in gear box casing by pairs of angular contact bearing.

Optionally, the supporting mechanism includes the support arm of two parallel arrangements；The motor, retarder, tooth sector Case is installed on the side wall of one of support arm；The output shaft of steering box is rotatably installed on another support arm.

Optionally, supporting mechanism safety stop assembly before the front position of its direction of travel is additionally provided with；It is described Preceding safety stop assembly includes movable part, and the sensor for being combined together with movable part；The movable part, The sensor is configured as: when movable part is occurred movement and contacts the sensor by external force, the sensor hair Stop the electric signal of walking out.

Optionally, in the yoke mechanism, the yoke and linking arm are sliding fit together；The yoke is configured as The slide displacement of preset distance occurs on the vertical direction of linking arm；It further include being arranged in yoke glide direction and being used for Resist the buffer unit of yoke sliding.

Optionally, the yoke and linking arm are combined together by way of sliding block, sliding slot；The sliding block setting is being pitched On arm, the sliding slot setting is on the connecting arm；Alternatively, the sliding slot is arranged on yoke, the sliding block setting is on the connecting arm.

Optionally, there is the gap for deflecting between yoke and linking arm between the sliding block and sliding slot.

Optionally, the sliding block is swallow-tail form sliding block, and the sliding slot is swallow tail shaped slot.

Optionally, pressing plate is provided on the linking arm, the pressing plate is located at the top of sliding slot, sliding block, the buffering One end of device is against pressing plate, and the other end is against on sliding block.

Optionally, the lifting mechanism includes the rocker arm being rotatably connected on supporting mechanism, and is rotatably connected on support At least one lifting-up support in mechanism further includes connecting rod and the pull rod for connecting with hoisting mechanism；The lifting-up support, Rocker arm is denoted as first end, second end relative to the both ends with supporting mechanism rotation connection position respectively；

First end of the connecting rod respectively with rocker arm, at least one lifting-up support is rotatably connected；The pull rod with The second end of rocker arm is rotatably connected；The pull rod is configured as the support when driving rocker arm to rotate on supporting mechanism Lifting-up support is pulled to rotate on supporting mechanism for connecting rod in mechanism so that the second end of lifting-up support is by the yoke machine Structure jacks up.

Optionally, the second end of the lifting-up support is provided with the idler wheel for being engaged with yoke.

Optionally, the lifting-up support includes the first plate, the second plate for being arranged in parallel and linking together；Pass through setting First axle passes through the first plate, the second plate and is rotatably connected on supporting mechanism；Positioned at the position of lifting-up support first end, by setting The second axis set passes through the first plate, the second plate and links together with link rotatable；Positioned at the position of lifting-up support second end, lead to The third axis for crossing setting passes through the first plate, the second plate, and the idler wheel is arranged on third axis.

Optionally, it there are two the lifting-up support settings, is sequentially distributed on the extending direction of supporting mechanism；The connecting rod Extending direction it is consistent with the extending direction of supporting mechanism, and be rotatably connected respectively with described two lifting-up supports.

Optionally, the position that described two lifting-up supports, rocker arm are connect with connecting rod respectively is located in same horizontal line；It is described The position that two lifting-up supports, rocker arms are connect with supporting mechanism respectively is located in same horizontal line；And lifting-up support and connecting rod connect The distance between the position that the position connect is connect to lifting-up support with supporting mechanism, the position being connect with connecting rod equal to rocker arm is to shaking The distance between the position that arm is connect with supporting mechanism.

Optionally, the retainer for preventing connecting rod from continuing movement is additionally provided on the supporting mechanism.

Optionally, the hoisting mechanism includes the promotion assembly that two structures are consistent and are arranged symmetrically, the promotion assembly It further include for connecting lifting mechanism and being slidably fitted in the lifting plate in mounting bracket including mounting bracket；In the installation The lead screw for being controlled by and promoting motor is additionally provided on bracket；The lifting plate is cooperated by feed screw nut and the lead screw one It rises；The lifting plate is configured as that the reciprocating movement of vertical direction occurs relative to mounting bracket under the driving for promoting motor, To rise or fall lifting mechanism；Two sets of promotion assemblies share a promotion motor.

Optionally, the upper limit sensor for detecting lifting plate uplink stop is additionally provided in the mounting bracket, And the lower limit level sensor of detection lifting plate downlink stop.

A kind of automated guided vehicle according to the present utility model, using the structure of fork arm type equal, by way of yoke Cargo is forked, in conjunction with the general tray that different production units largely use, so as to which the material of different size to be transferred to It on pallet, and is transported through by the automated guided vehicle, effectively increases the versatility of AGV.

By the detailed description referring to the drawings to the exemplary embodiment of the utility model, the utility model it is other Feature and its advantage will become apparent.

Detailed description of the invention

It is combined in the description and the attached drawing for constituting part of specification shows the embodiments of the present invention, and And together with its explanation for explaining the principles of the present invention.

Fig. 1 is the structural schematic diagram of the utility model transport vehicle.

Fig. 2 is the structural schematic diagram of support arm in Fig. 1, support assembly, power assembly.

Fig. 3 is support arm in Fig. 1, support assembly, power assembly, the top view for promoting assembly.

Fig. 4 is the structural schematic diagram of preceding safety stop assembly in Fig. 3.

Fig. 5 is the structural schematic diagram of support assembly in Fig. 3.

Fig. 6 is the structural schematic diagram of the utility model elastic device.

Fig. 7 is the cross-sectional view of the utility model steering box.

Fig. 8 is the main view of the utility model support arm and lifting mechanism.

Fig. 9 is the part isometric structural schematic diagram of the utility model support arm and lifting mechanism.

Figure 10 is schematic diagram when lifting mechanism jacks up in Fig. 8.

Figure 11 is the structural schematic diagram of lifting-up support in Fig. 9.

Figure 12 is the main view of lifting-up support in Figure 11.

Figure 13 is the structural schematic diagram of the utility model yoke mechanism.

Figure 14 is the partial enlarged view of 100 positions in Figure 13.

Figure 15 is the top view of the utility model yoke mechanism.

Figure 16 is the partial enlarged view of 101 positions in Figure 15.

Figure 17 is the structural schematic diagram of the utility model hoisting mechanism.

Figure 18 is the structural schematic diagram that assembly is promoted in Figure 17.

Specific embodiment

The various exemplary embodiments of the utility model are described in detail now with reference to attached drawing.It should also be noted that unless another It illustrates outside, the component and the positioned opposite of step, numerical expression and numerical value otherwise illustrated in these embodiments is unlimited The scope of the utility model processed.

Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to this is practical Novel and its application or any restrictions used.

Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable In the case of, the technology, method and apparatus should be considered as part of specification.

It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without It is as limitation.Therefore, other examples of exemplary embodiment can have different values.

It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.

The 1st embodiment of the utility model provides a kind of automated guided vehicle, comprising:

The 2nd embodiment of the utility model, according to the 1st embodiment of the utility model, the supporting mechanism include support arm with And at least partly support arm is supported at least one support assembly on walking table top；The support assembly includes rotation connection Walking wheel support on support arm, and the traveling wheel being mounted in walking wheel support；The walking wheel support is configured as It is rotated relative to support arm towards the direction far from or close to walking table top；

The 3rd embodiment of the utility model, according to the 1st to 2 embodiment of the utility model, the support assembly is provided with one It is a, positioned at front position of the support arm on direction of travel.

The 4th embodiment of the utility model, according to the 1st to 3 embodiment of the utility model, the support assembly is provided with two It is a, it is located at front position and back-end location of the support arm on direction of travel.

The 5th embodiment of the utility model, according to the 1st to 4 embodiment of the utility model, one end of the walking wheel support turns Dynamic to be connected on support arm, the other end of walking wheel support is arranged in the traveling wheel, and is used to support and is expert on table top.

The 6th embodiment of the utility model, according to the 1st to 5 embodiment of the utility model, the elastic device includes tubular Elastic device shell, and by spring pre-tightening in the intracorporal telescopic rod of elastic device shell, the telescopic rod is configured as in bullet Stretching motion in property device housing；One end of the telescopic rod, which is stretched out out of elastic device shell and rotated with walking wheel support, to be connected It is connected together, the elastic device shell is rotatably connected with support arm.

The 7th embodiment of the utility model is additionally provided on the support arm according to the 1st to 6 embodiment of the utility model Prevent walking wheel support toward the check plate far from walking table top direction inordinate rotation.

The 8th embodiment of the utility model, according to the 1st to 7 embodiment of the utility model, the walking power assembly includes edge Motor that supporting mechanism extending direction is sequentially arranged, retarder, steering box；The motor is connect with retarder；It is described to subtract The input axis connection of fast device and steering box；It is provided on the output shaft of steering box for driving supporting mechanism to walk Walking driver gear；

The 9th embodiment of the utility model, according to the 1st to 8 embodiment of the utility model, the steering box includes gear Tank shell, the input shaft, output shaft pass through bearing respectively and are rotatably connected in gear box casing, the input shaft, output shaft Between pass through bevel gear set be sequentially connected.

The 10th embodiment of the utility model, according to the 1st to 9 embodiment of the utility model, the input shaft passes through pairs of Angular contact bearing is mounted in gear box casing；Or/and the output shaft is mounted on gear-box by pairs of angular contact bearing In shell.

The 11st embodiment of the utility model, according to the 1st to 10 embodiment of the utility model, the supporting mechanism includes two The support arm of parallel arrangement；The motor, retarder, steering box are installed on the side wall of one of support arm；Turn It is rotatably installed on another support arm to the output shaft of gear-box.

The 12nd embodiment of the utility model, according to the 1st to 11 embodiment of the utility model, the supporting mechanism is in its traveling Safety stop assembly before the front position in direction is additionally provided with；The preceding safety stop assembly includes movable part, and is used for The sensor being combined together with movable part；The movable part, the sensor are configured as: when movable part is by outer When power occurs movement and contacts the sensor, the sensor issues the electric signal for stopping walking.

The 13rd embodiment of the utility model, it is described in the yoke mechanism according to the 1st to 12 embodiment of the utility model Yoke is sliding fit together with linking arm；The yoke is configured as that preset distance occurs on the vertical direction of linking arm Slide displacement；It further include that buffer unit in yoke glide direction and for resisting yoke sliding is set.

The 14th embodiment of the utility model, according to the 1st to 13 embodiment of the utility model, the yoke passes through with linking arm Sliding block, sliding slot mode be combined together；The sliding block is arranged on yoke, and the sliding slot setting is on the connecting arm；Alternatively, institute It states sliding slot to be arranged on yoke, the sliding block setting is on the connecting arm.

The 15th embodiment of the utility model has between the sliding block and sliding slot according to the 1st to 14 embodiment of the utility model There is the gap for deflecting between yoke and linking arm.

The 16th embodiment of the utility model, according to the 1st to 15 embodiment of the utility model, the sliding block is sliding for swallow-tail form Block, the sliding slot are swallow tail shaped slot.

The 17th embodiment of the utility model is provided on the linking arm according to the 1st to 16 embodiment of the utility model Pressing plate, the pressing plate are located at the top of sliding slot, sliding block, and one end of the buffer unit is against pressing plate, and the other end is against on sliding block.

The 18th embodiment of the utility model, according to the 1st to 17 embodiment of the utility model, the lifting mechanism includes rotation The rocker arm being connected on supporting mechanism, and at least one lifting-up support being rotatably connected on supporting mechanism, further include connecting rod And the pull rod for being connect with hoisting mechanism；The lifting-up support, rocker arm are rotatablely connected position relative to supporting mechanism Both ends are denoted as first end, second end respectively；

The 19th embodiment of the utility model, according to the 1st to 18 embodiment of the utility model, the second end of the lifting-up support It is provided with the idler wheel for being engaged with yoke.

The 20th embodiment of the utility model, according to the 1st to 19 embodiment of the utility model, the lifting-up support includes parallel The first plate, the second plate for being arranged and linking together；The first plate, the second plate are passed through by the first axle of setting and are rotatably connected on On supporting mechanism；Positioned at the position of lifting-up support first end, the first plate, the second plate and and connecting rod are passed through by the second axis of setting It is rotatably connected；Positioned at the position of lifting-up support second end, the first plate, the second plate, institute are passed through by the third axis of setting Idler wheel is stated to be arranged on third axis.

The 21st embodiment of the utility model, according to the 1st to 20 embodiment of the utility model, the lifting-up support is provided with two It is a, it is sequentially distributed on the extending direction of supporting mechanism；The extending direction of the connecting rod and the extending direction of supporting mechanism are consistent, And it is rotatably connected respectively with described two lifting-up supports.

The 22nd embodiment of the utility model, according to the 1st to 21 embodiment of the utility model, described two lifting-up supports are shaken The position that arm is connect with connecting rod respectively is located in same horizontal line；Described two lifting-up supports, rocker arm connect with supporting mechanism respectively The position connect is located in same horizontal line；And the lifting-up support position that connect with connecting rod is connect to lifting-up support with supporting mechanism The distance between position, the distance between the position being connect to rocker arm with supporting mechanism equal to the position that rocker arm is connect with connecting rod.

The 23rd embodiment of the utility model is also set on the supporting mechanism according to the 1st to 22 embodiment of the utility model It is equipped with the retainer for preventing connecting rod from continuing movement.

The 24th embodiment of the utility model, according to the 1st to 23 embodiment of the utility model, the hoisting mechanism includes two Structure is consistent and the promotion assembly that is arranged symmetrically, and it further includes for connecting lifting mechanism that the promotion assembly, which includes mounting bracket, And it is slidably fitted in the lifting plate in mounting bracket；The lead screw for being controlled by and promoting motor is additionally provided in the mounting bracket； The lifting plate is combined together by feed screw nut and the lead screw；The lifting plate is configured as in the driving for promoting motor Under relative to mounting bracket occur vertical direction reciprocating movement, by lifting mechanism rise or fall；Two sets of promotion assemblies Share a promotion motor.

The 25th embodiment of the utility model is also set in the mounting bracket according to the 1st to 24 embodiment of the utility model It is equipped with the upper limit sensor for detecting lifting plate uplink stop, and the lower limit sensing of detection lifting plate downlink stop Device.

Automated guided vehicle (AGV) can be applicable to intelligent storage field, can carry cargo according to design route To predetermined position.It is more that two-dimension code navigation well-known to those skilled in the art, colour band navigation etc. can be used in automated guided vehicle Kind navigation mode.Laser safety avoidance can also be set, with to provide avoidance information when AGV automatic running.It can also be arranged certainly Dynamic charhing unit: being contacted by contact with charging pile, and the automatic charging that charge circuit realizes AGV is constituted.This belongs to this field skill The common knowledge of art personnel, no longer illustrates herein.

A kind of automated guided vehicle provided by the utility model uses the structure of fork arm type equal, will by way of yoke Cargo forks, in conjunction with the general tray that different production units largely use, so as to which the material of different size is transferred to support It on disk, and is transported through by the automated guided vehicle, effectively increases the versatility of AGV.

The automated guided vehicle of the utility model includes support assembly, walking power assembly, yoke mechanism, lifting machine Structure, hoisting mechanism, the electrical appliance kit 2 being mounted on pedestal 4 etc..

The support assembly of the utility model is used for the support of entire automated guided vehicle, including at least two parallel arrangements It and is in the supporting mechanism of arm-type extension.Such as in one specific embodiment of the utility model, automated guided vehicle is adopted Mechanism is forked with two V shapes, at this point, there are two the supporting mechanism in support assembly can be set.

Accordingly, the yoke mechanism of the utility model includes two yokes and linking arm that yoke links together； The shape of two yokes is consistent with the extension shape of two supporting mechanisms, so that two yokes can be respectively supported at two supports In mechanism.

Power assembly of walking is arranged on supporting mechanism, so that walking power assembly can be configured as driving supporting mechanism It is expert on table top (such as ground) and walks.The lifting mechanism of the utility model is arranged on supporting mechanism, and is configured as The yoke mechanism being supported on supporting mechanism is jacked up into scheduled height under the driving of hoisting mechanism, to realize the fork to cargo It rises.

It, can be using the supporting mechanism of walking elasticity in the support assembly of the utility model with reference to Fig. 2.Supporting mechanism packet It includes support arm 5 and at least partly support arm 5 is supported at least one support assembly 6 on walking table top.The utility model Support assembly 6 can be supported on the central region of support arm 5, the tip position of support arm 5 can also be supported on.

Such as when the support assembly 6 of the utility model is provided with one, which can be located at support arm 5 and exist Front position on direction of travel.With reference to the view direction of Fig. 2, such as left side is the direction of travel of support arm, then the support is total Left side tip position in support arm 5 can be set at 6, to provide support for the left side tip position of support arm 5.

In the utility model another embodiment, there are two support assembly 6 can be set, it can be denoted as first respectively Support assembly, the second support assembly, two support assemblies be located at front position of the support arm 5 on direction of travel and after End position.In Fig. 2, the first support assembly is located at the left side end of support arm 5, is used to support the 5 left side end of support arm Position；Second support assembly is located at the right side end of support arm 5, is used to support the position of the 5 right side end of support arm.

First support assembly, the second support assembly structure can be identical, include the row that is rotatably connected on support arm 5 Wheel support 61 is walked, and the traveling wheel 62 being mounted in walking wheel support 61, which is configured as relative to branch Brace 5 is rotated towards the direction far from or close to walking table top.

With reference to Fig. 2, Fig. 5, traveling wheel 62 can be universal wheel, be mounted on wherein one end of walking wheel support 61, walking The other end of wheel support 61 is rotatably connected on support arm 5.

The support arm 5 of the utility model can be tabular, and the end of walking wheel support 61 is rotatably connected on by shaft On support arm 5.In one specific embodiment of the utility model, there are two the settings of support arm 5, is denoted as the first support respectively Arm 50, the second support arm 51, with reference to Fig. 3.First support arm 50, the second support arm 51 parallel arrangement.Two support arms 51 it Between be provided with connecting plate 60, two support arms 51 can be connected and fixed by the connecting plate 60.

With reference to Fig. 5, walking wheel support 61 is rotatably connected on connecting plate 60 by shaft 66, so that walking wheel support 61 can To rotate relative to the connecting plate 60.The extending direction of shaft 66 is vertical with the extending direction of support arm 5, so that the walking Wheel support 61 can be configured to rotate relative to support arm 5 towards the direction far from or close to walking table top.

Elastic device 63 is additionally provided between walking wheel support 61 and support arm 5, which is configured as: for Walking wheel support 61 provides the pretightning force toward the rotation of walking table top direction.

Support arm 5 supports on the ground, such as can be supported on ground by the walking driver gear being arranged on support arm 5 On, which can drive the support arm 5 to walk on the ground.Such as when two support assemblies are arranged, walking master Driving wheel may be provided at the medium position of support arm 5, to drive support arm 5 to advance.

The walking wheel support 61 that 5 front position of support arm is arranged in remains under the pretightning force effect of elastic device 63 The power of direction deflection to the ground, so that the walking wheel support 61 is only pasted as a part of use of supporting mechanism with ground It is combined.After external force is in walking wheel support 61, the walking wheel support 61 can overcome the pretightning force of elastic device with It deflects towards the direction far from ground, or deflects towards the direction on ground.This extraneous factor may be ground Caused by uneven, it is also possible to caused by turning to, it will not enumerate herein.

The support arm and support assembly constitute the bearing structure of AGV, bear the self weight of fork-lift type AGV and fork cargo Total load.When AGV is operated on roughness pavement, the resilient support assembly of front end and rear end can be according to road surface actual conditions Carry out floating adjustment, guarantee that the universal wheel of front and back can recumbently and according to operation conditions adjust in real time, avoid universal wheel hanging and Steering causes adverse effect to the operation of AGV not in time.And due to the resilient support of the support assembly, complete machine is in operational process In reduce impact to reducing operation noise, improve operation stability.Solves AGV synchronous operation support and stability Design solves the problems, such as to install cushioning supportive in narrow space.

The elastic device 63 of the utility model can be spring or other elasticity well-known to those skilled in the art Structure.In one specific embodiment of the utility model, with reference to Fig. 6, elastic device 63 includes the elastic device shell of tubular Body 631, and the telescopic rod 633 in elastic device shell 631 is pre-tightened by spring 632, which can fill in elasticity It sets driving spring 632 in shell 631 and does stretching motion.One end of telescopic rod 633 is stretched out and is connected out of elastic device shell 631 There is the first connector 630, which can be rotatably connected by axis 64 and walking wheel support 61.Elasticity dress It sets the one end opposite with the first connector 630 of shell 631 and is formed with the second connector 634, which passes through another Axis 65 is rotatably connected with connecting plate 60.

When walking wheel support 61 rotates relative to connecting plate 60, walking wheel support 61 drives telescopic rod 633 to squeeze Or extension spring 632 realizes the walking resilient support of supporting mechanism to do stretching motion in elastic device shell 631.

For a person skilled in the art, need to limit the rotation amplitude of support assembly opposed support structure, this limit System can be realized by the performance of elastic device itself.Such as the elastic device stretching, compression dynamics it is sufficiently large, with limitation The angle that walking wheel support 61 deflects.Can also be by the flexible stroke of limitation telescopic rod 633, such as telescopic rod 633 can be with bullet Position limiting structure is set between property device housing 631.

It is also possible that being provided with check plate on support arm 5 (view does not provide).The check plate can prevent traveling wheel branch Direction inordinate rotation of the frame 61 toward separate walking table top.That is, being turned to when walking wheel support 61 toward the direction far from walking table top It can be engaged with check plate together after predetermined angular, no longer illustrate herein.

The walking power assembly of the utility model, with reference to Fig. 3, Fig. 7, including what is be sequentially arranged along supporting mechanism extending direction Motor 81, retarder 82, steering box 83；Motor 81 is connect with retarder 82, and retarder 82 is defeated with steering box 83 Enter axis connection；The walking driver gear 835 for driving supporting mechanism to walk is provided on the output shaft of steering box 83.

Walking driver gear 835 can be set in any position of supporting mechanism, and walking driver gear 835 also can be set more It is a.In one specific embodiment of the utility model, with reference to Fig. 2, Fig. 3, Fig. 7, walking driver gear 835 is arranged in two branch The position between assembly is supportted, such as may be provided at the central region of supporting mechanism.

Specifically, motor 81, retarder 82, steering box 83 are sequentially arranged on the inner wall of the second support arm 51, electricity Machine 81 is connect with retarder 82, and the torque that motor 81 is exported is decelerated the amplification of device 82.Retarder 82 can be by universal The input shaft of shaft coupling 84 and steering box 83 is sequentially connected, and the torque amplified by retarder 82 is passed through universal Shaft coupling 84 is transmitted in steering box 83.

In one preferred embodiment of the utility model, the side wall of retarder 82 is fixed on the side of the second support arm 51 On wall；It further include being located between two support arms, and the stiffening plate 80 being connect respectively with two support arms, with reference to Fig. 2.Retarder 82 end face is fixed in the stiffening plate 80.The stiffening plate 80 is positioned close to the position of retarder 82, and makes retarder 82 End face is fixed in stiffening plate 80, and the bonding strength of two support arms in the position can be improved, and is avoided herein because of the big torsion of low speed The problems such as square exports and brings distortion, deformation to two support arms.

The input shaft of steering box 83 is located on the extending direction of support arm 5, and the output shaft of steering box 83 is vertical In the extending direction of support arm 5, so that the input shaft of steering box 83 is mutually perpendicular to its output shaft.Steering box 83 The power that internal structure is configured as being inputted on axis is transferred on its output shaft.

With reference to Fig. 7, steering box 83 includes gear box casing 830, and input shaft 831, output shaft 836 pass through bearing respectively Be rotatably connected in gear box casing 830, which can be pairs of angular contact bearing 832,834, allow to bear compared with Big axial force.

It is sequentially connected, is realized between input shaft 831, output shaft 836 by bevel gear set between input shaft 831, output shaft 836 Power transmitting.The bevel gear set is preferably 45 ° of bevel gear sets.With reference to Fig. 7, bevel gear set includes being arranged in input shaft 831 On first bevel gear 833, and the second bevel gear 838 being arranged on output shaft 836；The first bevel gear 833 and second Bevel gear 838 meshes together.

It is provided on output shaft 836 for the walking driver gear 835 with ground face contact, when the torque transmitting of motor output After on to walking driver gear 835, the walking of two support arms on the ground can be driven.

In one preferred embodiment of the utility model, the free tip position of output shaft 836 can pass through bearing 837 It is mounted on the first support arm 50, with reference to Fig. 3, Fig. 7.It is supported on both sides that such structure constitutes steering box 83, this The bearing capacity of walking power assembly is improved, and two support arm stress equalizations can be made, improves overall stability；Solves yoke The installation space of formula AGV is narrow, carries big difficult point.

The AGV of the utility model, safety stop assembly 3 before can also being arranged, with reference to Fig. 1, Fig. 3, Fig. 4.Preceding safety stop Assembly 3 is arranged in the front position of 5 direction of travel of support arm, and support arm 5 is expert under the driving of walking power assembly goes on the ground When stopping 3 deviation route of assembly into, current safety and encountering barrier, stop signal can be issued to walking power assembly, make to go The parking of walking power assembly.

With reference to Fig. 4, preceding safety stop assembly 3 includes movable part 31, and for being combined together with movable part 31 Sensor 32.The front end in support arm 5 or the front end of support assembly can be set in the sensor 32.Preferably, it is arranged One fixed plate 30 is mounted on the front end of support arm 5 or the front end of support assembly, sensor 32 be mounted on fixed plate 30 with it is removable Between dynamic portion 31.The movable part 31 can be elastic slice, when the walking of support arm 5 becomes movable part 31 after bumping against barrier Shape, so that trigger sensor 32 issues stop sign.

In one preferred embodiment of the utility model, movable part 31 is slidably fitted in fixed plate 30.Solid The two sides of fixed board 30 are provided with guide part 33, and movable part 31 is slidably fitted on guide part 33 by spring 34.When removable Portion 31 bumps against after barrier and slides along guide part 33 towards the direction of fixed plate 30, thus trigger sensor 32.In order to avoid can Moving portion 31 squeezes sensor 32 bad, stop column 35 can also be arranged in fixed plate 30, which is used for and movable part 31 contacts, to limit the displacement mobile towards 30 direction of fixed plate of movable part 31.

In the yoke mechanism of the utility model, with reference to Fig. 1, Figure 13, Figure 14, two yokes 1 are connected to by linking arm 11 Together, each yoke 1 is supported on a supporting mechanism, specifically, is supported on support arm 5.Yoke 1 may include being covered on Top plate on support arm, and the side plate extended downwardly from top plate both sides of the edge.Two side plates and top plate, which define, is covered on branch Groove in brace 5.

The yoke mechanism of the utility model, can be set pilot sleeve 12 on linking arm 11, which can set There are two setting, when assembly, which is slidedly assemblied on support assembly, which is existed It is picked up or is lowered under the action of guiding mechanism.

In one preferred embodiment of the utility model, floating structure is can be used in yoke mechanism, so that in assembly When or when jack-up, two yokes can pass through the floating structure of itself and keep balance.

With reference to Figure 13, Figure 14, two yokes 1 and linking arm 11 are sliding fit together in the vertical direction, so that yoke 1 It can be configured as the slide displacement that preset distance occurs on the vertical direction of linking arm 11.

With reference to Figure 15, Figure 16, yoke 1 can be oriented to by way of sliding block, sliding slot with linking arm 11 and is combined together.Example Sliding block can be such as arranged on yoke 1, sliding slot is arranged on linking arm 11, and the two guiding is combined together.It is also possible that will Sliding block is arranged on linking arm 11, and sliding slot is arranged on yoke 1, and the guiding cooperation of the two equally may be implemented.

When AGV is in assembly, such as when assemble lifting mechanism, since rigging error or fabrication error cause two to pitch When the supporting point of arm is not concordant, it can be come between two yokes of automatic adjusument by sliding of the yoke on linking arm 11 Relative position, each supporting point that ensure that two yokes can be different with height are engaged together, avoid unbalance stress.

Preferably, there is the gap for deflecting between yoke 1 and linking arm 11 between sliding block and sliding slot.Sliding block with There is gap between sliding slot, allow yoke 1 that a degree of deflection occurs relative to the linking arm 11, guarantee that sliding block is being pitched The vertical direction for taking direction and forking all has activity space.Such as some yoke is uneven by two height in lifting mechanism Fulcrum during the jacking up, yoke 1 can by the deflection between linking arm 11 come automatic adjusument, guarantee yoke can with it is every A jack-up point contact.In addition, linking arm 11 is located at the tail end of yoke 1, this makes the front end of yoke 1 can have amplified deflection Effect makes yoke have the flying ability of larger deflection, guarantees the reliable contacts with lifting mechanism.

In one specific embodiment of the utility model, sliding block uses swallow-tail form sliding block 15, and sliding slot is swallow tail shaped slot 16, with reference to Figure 15, Figure 16, linking arm 11 is located at the end-position of two yokes 1, and two yokes 1 company of being slidably fitted in respectively Connect the opposite two sides of arm 11.Swallow-tail form sliding block 15 is arranged on the inner sidewall of two yokes, and two swallow tail shaped slots 16 are then arranged The side wall of 11 opposite sides of linking arm, and the two is sliding fit together.It is sliding that the height of swallow tail shaped slot 16 can be greater than swallow-tail form The height of block 15 allows swallow-tail form sliding block 15 to slide scheduled distance in swallow tail shaped slot 16.

The yoke mechanism of the utility model further includes being arranged in 1 glide direction of yoke and sliding for resisting yoke 1 Buffer unit 14.

With reference to Figure 14,11 it is provided with pressing plate 13 on the connecting arm, which can fix by modes such as screw, screws On the connecting arm on 11, pressing plate 13 is located at the top position of swallow-tail form sliding block 15, swallow tail shaped slot 16.One end of buffer unit 14 is supported In the lower section of pressing plate 13, the other end is against on swallow-tail form sliding block 15.When upward position occurs relative to linking arm 11 for the needs of yoke 1 When shifting, or when yoke 1 deflects relative to linking arm 11, it is required to squeeze the buffer unit 14 and deforms.Thus Shock of the yoke 1 in location free procedure can be buffered, noise and impact are reduced.

The buffer unit 14 can be the buffer structure well-known to those skilled in the art such as spring.Buffer unit 14 can be with It is provided with one, also can be set multiple.Pressing plate and buffer unit can be set in the upper end of linking arm 11, it can also be even The lower end setting pressing plate and buffer unit for connecing arm 11, no longer illustrate herein.

The lifting mechanism 7 of the utility model is arranged on supporting mechanism, real for lifting the yoke 1 on supporting mechanism Show yoke 1 to fork cargo.

With reference to Fig. 8, Fig. 9, Figure 10, lifting mechanism 7 includes the rocker arm 73 being rotatably connected on support arm 5, and rotation connects At least one lifting-up support on support arm 5 is connect, further includes connecting rod 74 and the pull rod 75 for being connect with hoisting mechanism 9. Hoisting mechanism 9 drives pull rod 75 to act, so that the rocker arm 73 connecting with pull rod 75 rotates on support arm 5.In rocker arm 73 During rotation, lifting-up support is set to rotate in support arm 5 by connecting rod 74, so that wherein one end of lifting-up support be made to push up It rises, the yoke 1 on support arm 5 is jacked up into scheduled distance.

The lifting-up support of the utility model can be set one, two or more, now propped up with two jackings of setting For frame, the lifting mechanism 7 of the utility model is described in detail.

Two lifting-up supports are denoted as the first lifting-up support 70, the second lifting-up support 71, the knot of two lifting-up supports respectively Structure can be consistent.It is engaged respectively with yoke 1 together after the end of two lifting-up supports jacks up, jointly by yoke 1 It jacks up.First lifting-up support 70, the second lifting-up support 71, rocker arm 73 are successively set on the extending direction of support arm 5.

Specifically, lifting-up support, rocker arm 73 are denoted as first relative to the both ends for being rotatablely connected position with support arm 5 respectively End, second end, i.e., boundary is in the position being rotatablely connected using lifting-up support, rocker arm 73 and support arm 5, and one end is denoted as first end, separately One end is denoted as second end.

The extending direction of connecting rod 74 is consistent with the extending direction of support arm 5, and connecting rod 74 is jacked with 73, two, rocker arm respectively The first end of bracket is rotatably connected.Pull rod 75 and the second end of rocker arm 73 are rotatably connected.So that pull rod 75 can Being configured as the connecting rod 74 when driving rocker arm 73 to rotate on support arm 5, on support arm 5 pulls lifting-up support in support arm 5 On rotate so that the second end of lifting-up support jacks up yoke 1.

Preferably, the second end of lifting-up support is provided with idler wheel, can roll cooperation one with yoke 1 by the idler wheel It rises, in order to lift yoke 1.

With reference to Fig. 9, Figure 11, Figure 12, the preferred parallelogram structure of lifting-up support comprising be arranged in parallel and be connected to The first plate 701, the second plate 702 together.First plate 701, the second plate 702 can be linked together by axle sleeve, can be passed through The other structures well-known to those skilled in the art such as bolt link together, and make to protect between the first plate 701, the second plate 702 Hold scheduled interval.

The lifting-up support can be connected on support arm 5 by the first axle 704 of setting, and first axle 704 passes through the first plate 701, after the second plate 702, both ends are connected on two support arms 5 of its two sides.With reference to Fig. 3, the both ends of first axle 704 It is connected to the first support arm 50, on the second support arm 51.Lifting-up support is allowed to occur to turn for axis with first axle 704 It is dynamic.

Positioned at the position of lifting-up support first end, the second axis 705 is set and passes through the first plate 701, the second plate 702, and passes through Second axis 705 is rotatably connected with connecting rod 74.Positioned at the position of lifting-up support second end, pass through the third axis 703 of setting Across the first plate 701, the second plate 702, there are two the settings of idler wheel 700, is rotatably connected on third axis 703 respectively and is pierced by the first plate 701, the both ends of the second plate 702.Two idler wheels 700 are spaced apart by the first plate 701, the second plate 702, so that the stress of yoke 1 More uniformly, steadily to jack up yoke 1.

The structure of rocker arm 73 can be similar to the structure of lifting-up support, and the mounting means phase of mounting means and lifting-up support Seemingly.Such as rocker arm 73 can be rotatably connected on support arm 5 by first axle, be rotatably connected on one by the second axis and connecting rod 74 It rises, and is rotatablely connected by third axis and pull rod 75.

With reference to the view direction of Fig. 8, when pull rod 75 is elevated under the action of hoisting mechanism, rocker arm 73 occurs counterclockwise Start, under the driving of connecting rod 74, the first lifting-up support 70,71 opposed support structure 5 of the second lifting-up support are rotated counterclockwise, To make the second end of two lifting-up supports rise, yoke 1 is jacked up, with reference to Figure 10.

In one preferred embodiment of the utility model, two lifting-up supports, rocker arm 73 are connect with connecting rod 74 respectively Position be located in same horizontal line.The position that two lifting-up supports, rocker arm 73 are connect with support arm 5 respectively is located at same level On line；And the distance between the position that the position that connect with connecting rod 74 of lifting-up support is connect to lifting-up support with support arm 5, it is equal to The distance between the position that the position that rocker arm 73 is connect with connecting rod 74 is connect to rocker arm 73 with support arm 5.

With reference to Fig. 8, the position that two lifting-up supports, rocker arm 73 are connect with connecting rod 74 is tie point D respectively, tie point E, connects Contact F, tie point D, tie point E, tie point F are located in same horizontal line.Two lifting-up supports, rocker arm 73 and support arm 5 connect The position connect is tie point A, tie point B, tie point C respectively, and tie point A, tie point B, tie point C are located at same horizontal line On.The distance between the position that the position that lifting-up support is connect with connecting rod 74 is connect to lifting-up support with support arm 5, as connects Distance, the distance of tie point E to tie point B of point D to tie point A；The position that rocker arm 73 is connect with connecting rod 74 to rocker arm 73 with The distance between the position that support arm 5 connects, the distance of as tie point F to tie point C.Tie point D to tie point A away from It is equal to the distance of tie point F to tie point C with a distance from, tie point E to tie point B.

The design of such structure so that the movement of two lifting-up supports, rocker arm 73 be under the driving of pull rod 75 it is synchronous and It is identical.

In addition, the lifting mechanism of the utility model can realize 50mm or more height in the narrow space of height 60mm Lifting.

In order to which the raising distance to yoke 1 limits, displacement sensor can be set and detected, to control elevator The power of structure.In one preferred embodiment of the utility model, it is provided on support arm 5 for preventing connecting rod 74 from continuing The retainer of movement (view is not drawn with label).After connecting rod 74, which is moved to, to be engaged together with retainer, it can hinder Only connecting rod 74 continues to move, to play the role of limit, no longer illustrates herein.

With reference to Figure 17, Figure 18, the hoisting mechanism 9 of the utility model, always and the promotion that is arranged symmetrically including two structures Assembly is denoted as the first promotion assembly 90, second respectively and promotes assembly 91, and first, which promotes the promotion assembly 91 of assembly 90, second, shares One promotion motor 92.

Specifically, promoting assembly includes mounting bracket 900, which may be mounted on pedestal 4, further include For connecting the lifting plate 901 of pull rod in lifting mechanism.Lifting plate 901 can be in horizontally disposed plate, and can pass through guiding Column 902 is slidably fitted in the vertical direction in mounting bracket 900.Guide post 902 is vertically fixed in mounting bracket 900, There are four it can be set, lifting plate 901 is preferably sliding fit together by linear bearing and four guide posts 902.

Lifting plate 901 is provided with carry axis 905 for the position of connecting rod 75, and pull rod 75 and the carry axis 905 rotate It links together, when lifting plate 901 drives pull rod 75 to rise, obstruction can be eliminated by rotation connection between the two, is done The problem of relating to.

The lead screw 903 for being controlled by and promoting motor 92 is additionally provided in mounting bracket 900, lifting plate 901 passes through lead screw spiral shell Mother is combined together with lead screw 903.When promoting the driving rotation of lead screw 903 of motor 92, drives and mention under the action of feed screw nut Lift slab 901 rises or decline.

The lower end of lead screw 904 is provided with belt wheel 904, promotes motor 92 and is sequentially connected by belt 93 and belt wheel 904 one It rises.

In one preferred embodiment of the utility model, lead screw 903 be can be set in the outside of mounting bracket 900 position It sets.Such as the upper end of lead screw 901 is mounted in mounting bracket 900, lower end is pacified by the mounting portion being fixed on pedestal 4 Dress.One end of lifting plate 901 by four guide posts 902 and mounting bracket 900 it is sliding fit together, lifting plate 901 it is another One end extends to the outside of mounting bracket 900, and is combined together by feed screw nut with lead screw 903.

With reference to Figure 17, two promotion assemblies are symmetrical arranged, and the lead screw of two promotion assemblies is oppositely arranged, and it is logical to promote motor 92 Cross same root belt 93 and two transmission connections of belt wheel 904 promoted in assembly together.It thereby may be ensured that two are promoted always At the consistency of enhancing action.

Preferably, the upper limit sensing for detecting 901 uplink stop of lifting plate is additionally provided in mounting bracket 900 Device 906, and the lower limit level sensor 907 of detection 901 downlink stop of lifting plate.When lifting plate moves to triggering upper limit sensing When device 906, lower limit level sensor 907, then limit sensors issue the stop signal for promoting motor, ensure that the reliable of control Property.

Although being described in detail by some specific embodiments of the example to the utility model, this field It is to be understood by the skilled artisans that example above merely to be illustrated, rather than in order to limit the scope of the utility model.This Field it is to be understood by the skilled artisans that can not depart from the scope of the utility model and spirit in the case where, to above embodiments It modifies.The scope of the utility model is defined by the following claims.

Claims

1. a kind of automated guided vehicle characterized by comprising

Yoke mechanism, including at least two yokes and the linking arm that yoke links together；At least two yokes quilt It is configured to be supported at least two supporting mechanisms；

Lifting mechanism, hoisting mechanism, the lifting mechanism is arranged on supporting mechanism, and is configured as the driving in hoisting mechanism It is lower that the yoke mechanism being supported on supporting mechanism is jacked up into scheduled height.

2. automated guided vehicle according to claim 1, which is characterized in that the supporting mechanism include support arm and At least partly support arm is supported at least one support assembly on walking table top；The support assembly includes being rotatably connected on Walking wheel support on support arm, and the traveling wheel being mounted in walking wheel support；The walking wheel support is configured as phase Support arm is rotated towards the direction far from or close to walking table top；

It further include the elastic device being arranged between walking wheel support and support arm, the elastic device is configured as: for walking Wheel support provides the pretightning force toward the rotation of walking table top direction.

3. automated guided vehicle according to claim 2, it is characterised in that: the support assembly is provided with one, position In front position of the support arm on direction of travel.

4. automated guided vehicle according to claim 2, it is characterised in that: there are two the support assembly settings, point It Wei Yu not front position and back-end location of the support arm on direction of travel.

5. automated guided vehicle according to claim 2, it is characterised in that: one end of the walking wheel support, which rotates, to be connected It connects on support arm, the other end of walking wheel support is arranged in the traveling wheel, and is used to support and is expert on table top.

6. automated guided vehicle according to claim 5, it is characterised in that: the elastic device includes the elasticity of tubular Device housing, and by spring pre-tightening in the intracorporal telescopic rod of elastic device shell, the telescopic rod is configured as filling in elasticity Set stretching motion in shell；One end of the telescopic rod is stretched out out of elastic device shell and is rotatably connected on walking wheel support Together, the elastic device shell is rotatably connected with support arm.

7. automated guided vehicle according to claim 2, it is characterised in that: being additionally provided on the support arm prevents Check plate of the walking wheel support toward separate walking table top direction inordinate rotation.

8. automated guided vehicle according to claim 1, it is characterised in that: the walking power assembly includes along support Motor that mechanism extending direction is sequentially arranged, retarder, steering box；The motor is connect with retarder；The retarder With the input axis connection of steering box；The row for driving supporting mechanism to walk is provided on the output shaft of steering box Walk driving wheel；

The input shaft of the steering box is located on the extending direction of supporting mechanism, and the output shaft of steering box perpendicular to The extending direction of supporting mechanism；The power that the steering box is configured as being inputted on axis is transferred on its output shaft.

9. automated guided vehicle according to claim 8, it is characterised in that: the steering box includes gearhousing Body, the input shaft, output shaft pass through bearing respectively and are rotatably connected in gear box casing, between the input shaft, output shaft It is sequentially connected by bevel gear set.

10. automated guided vehicle according to claim 9, it is characterised in that: the input shaft passes through pairs of corner connection Contact bearing is mounted in gear box casing；Or/and the output shaft is mounted on gear box casing by pairs of angular contact bearing In.

11. automated guided vehicle according to claim 8, it is characterised in that: the supporting mechanism includes two parallel The support arm of arrangement；The motor, retarder, steering box are installed on the side wall of one of support arm；Turn to tooth The output shaft of roller box is rotatably installed on another support arm.

12. automated guided vehicle according to claim 1, it is characterised in that: the supporting mechanism is in its direction of travel Front position be additionally provided with before safety stop assembly；The preceding safety stop assembly includes movable part, and for can The sensor that moving portion is combined together；The movable part, the sensor are configured as: when movable part is sent out by external force Raw mobile and when contacting the sensor, the sensor issues the electric signal for stopping walking.

13. automated guided vehicle according to claim 1, it is characterised in that: in the yoke mechanism, the yoke with Linking arm is sliding fit together；The yoke is configured as that the sliding position of preset distance occurs on the vertical direction of linking arm It moves；It further include that buffer unit in yoke glide direction and for resisting yoke sliding is set.

14. automated guided vehicle according to claim 13, it is characterised in that: the yoke and linking arm pass through cunning Block, sliding slot mode be combined together；The sliding block is arranged on yoke, and the sliding slot setting is on the connecting arm；Alternatively, described Sliding slot is arranged on yoke, and the sliding block setting is on the connecting arm.

15. automated guided vehicle according to claim 14, it is characterised in that: have between the sliding block and sliding slot and supply The gap to deflect between yoke and linking arm.

16. automated guided vehicle according to claim 14, it is characterised in that: the sliding block is swallow-tail form sliding block, institute Stating sliding slot is swallow tail shaped slot.

17. automated guided vehicle according to claim 14, it is characterised in that: be provided with pressure on the linking arm Plate, the pressing plate are located at the top of sliding slot, sliding block, and one end of the buffer unit is against pressing plate, and the other end is against on sliding block.

18. automated guided vehicle according to claim 1, it is characterised in that: the lifting mechanism includes rotation connection Rocker arm on supporting mechanism, and at least one lifting-up support being rotatably connected on supporting mechanism, further include connecting rod and Pull rod for being connect with hoisting mechanism；The lifting-up support, rocker arm are relative to the both ends with supporting mechanism rotation connection position It is denoted as first end, second end respectively；

First end of the connecting rod respectively with rocker arm, at least one lifting-up support is rotatably connected；The pull rod and rocker arm Second end be rotatably connected；The pull rod is configured as when driving rocker arm to rotate on supporting mechanism, supporting mechanism On connecting rod pull lifting-up support to rotate on supporting mechanism so that the second end of lifting-up support is by yoke mechanism top It rises.

19. automated guided vehicle according to claim 18, it is characterised in that: the second end of the lifting-up support is arranged There is the idler wheel for being engaged with yoke.

20. automated guided vehicle according to claim 19, it is characterised in that: the lifting-up support includes being arranged in parallel And the first plate, the second plate to link together；The first plate, the second plate are passed through by the first axle of setting and are rotatably connected on support In mechanism；Positioned at the position of lifting-up support first end, the first plate, the second plate and and link rotatable are passed through by the second axis of setting It links together；Positioned at the position of lifting-up support second end, the first plate, the second plate, the rolling are passed through by the third axis of setting Wheel is arranged on third axis.

21. automated guided vehicle according to claim 18, it is characterised in that: there are two the lifting-up support settings, It is sequentially distributed on the extending direction of supporting mechanism；The extending direction of the connecting rod and the extending direction of supporting mechanism are consistent, and It is rotatably connected respectively with described two lifting-up supports.

22. automated guided vehicle according to claim 21, it is characterised in that: described two lifting-up supports, sub-rocker arm The position not connecting with connecting rod is located in same horizontal line；Described two lifting-up supports, rocker arm are connect with supporting mechanism respectively Position is located in same horizontal line；And the position that the position that connect with connecting rod of lifting-up support is connect to lifting-up support with supporting mechanism The distance between, the distance between the position being connect to rocker arm with supporting mechanism equal to the position that rocker arm is connect with connecting rod.

23. automated guided vehicle according to claim 18, it is characterised in that: be additionally provided on the supporting mechanism For preventing connecting rod from continuing the retainer of movement.

24. automated guided vehicle according to claim 1, it is characterised in that: the hoisting mechanism includes two structures Promotion assembly that is consistent and being arranged symmetrically, it further includes for connecting lifting mechanism and cunning that the promotion assembly, which includes mounting bracket, Lifting plate of the dynamic cooperation in mounting bracket；The lead screw for being controlled by and promoting motor is additionally provided in the mounting bracket；It is described Lifting plate is combined together by feed screw nut and the lead screw；The lifting plate is configured as the phase under the driving for promoting motor Lifting mechanism is risen or is fallen by the reciprocating movement for mounting bracket occurring vertical direction；Two sets of promotion assemblies share One promotion motor.

25. automated guided vehicle according to claim 24, it is characterised in that: be additionally provided in the mounting bracket For detecting the upper limit sensor of lifting plate uplink stop, and the lower limit level sensor of detection lifting plate downlink stop.