阅读说明：本技术 一种连杆举升机构 (Connecting rod lifting mechanism ) 是由 冯金龙 贾鹏 苏宇 刘俏 孙铁华 于 2020-05-13 设计创作，主要内容包括：本发明涉及物流AGV小车领域,具体地说是一种连杆举升机构,包括连杆组件、承载盘、平衡杆、驱动装置、凸轮和驱动连杆,其中连杆组件包括中间连杆和设于所述中间连杆两端的摆臂组件,所述摆臂组件包括第一摆臂和第二摆臂,其中第一摆臂下端与车体铰接、上端与第二摆臂下端铰接,且第一摆臂和第二摆臂铰接处与中间连杆对应端部连接,第二摆臂上端与承载盘相连,驱动连杆一端与任一侧摆臂组件中的第一摆臂和第二摆臂铰接处铰接,另一端与凸轮铰接,且所述凸轮通过驱动装置驱动摆动,平衡杆一端铰接于车体上,另一端与所述承载盘连接。本发明整体结构紧凑、升降准确且承载大,能够满足物流AGV小车尺寸变小、负载变大的发展要求。(The invention relates to the field of logistics AGV trolleys, in particular to a connecting rod lifting mechanism which comprises a connecting rod assembly, a bearing disc, a balancing rod, a driving device, a cam and a driving connecting rod, wherein the connecting rod assembly comprises a middle connecting rod and swing arm assemblies arranged at two ends of the middle connecting rod, each swing arm assembly comprises a first swing arm and a second swing arm, the lower end of each first swing arm is hinged with a trolley body, the upper end of each first swing arm is hinged with the lower end of each second swing arm, the hinged parts of the first swing arms and the second swing arms are connected with the corresponding end parts of the middle connecting rod, the upper end of each second swing arm is connected with the bearing disc, one end of each driving connecting rod is hinged with the hinged parts of the first swing arms and the second swing arms in any side swing arm assembly, the other end of each driving connecting rod is hinged with the cam, the cam is driven to swing through the driving device, one end of the balancing rod is hinged to the trolley body, and the other end of the balancing rod is connected with the bearing disc. The automatic lifting device is compact in overall structure, accurate in lifting and large in bearing capacity, and can meet the development requirements of small size and large load of the logistics AGV.)

1. A connecting rod lifting mechanism is characterized in that: comprises a connecting rod component (1), a bearing disc (2), a balancing rod (3), a driving device (4), a cam (5) and a driving connecting rod (7), wherein the connecting rod component (1) comprises a middle connecting rod (101) and swing arm components arranged at two ends of the middle connecting rod (101), the swing arm components comprise a first swing arm (103) and a second swing arm (102), the lower end of the first swing arm (103) is hinged with a vehicle body (9), the upper end of the first swing arm is hinged with the lower end of the second swing arm (102), the hinged part of the first swing arm (103) and the second swing arm (102) is connected with the corresponding end part of the middle connecting rod (101), the upper end of the second swing arm (102) is connected with the bearing disc (2), one end of the driving connecting rod (7) is hinged with the hinged part of the first swing arm (103) and the second swing arm (102) in the swing arm component at any side, the other end of the driving connecting rod is hinged with the cam (5), and the cam (5) is driven to swing through the driving device (4), one end of the balancing rod (3) is hinged on the vehicle body (9), and the other end is hinged with the bearing disc (2).

2. The link lifting mechanism according to claim 1, wherein: a swing arm support (104) is arranged in the vehicle body (9), and the lower end of the first swing arm (103) is hinged to the swing arm support (104) through a first pin shaft (105).

3. The link lifting mechanism according to claim 1, wherein: the upper end of the first swing arm (103) is hinged with the lower end of the second swing arm (102) through a second pin shaft (106), and the two ends of the middle connecting rod (101) and one end, far away from the cam (5), of the driving connecting rod (7) are respectively installed on the second pin shaft (106) of the corresponding swing arm component.

4. The link lifting mechanism according to claim 1, wherein: the upper end of the second swing arm (102) is hinged to a connecting block (8) through a third pin shaft (107), and the connecting block (8) is fixedly connected with the bearing disc (2).

5. The link lifting mechanism according to claim 1, wherein: the balance rod type crane is characterized in that a balance rod support (6) is arranged in the crane body (9), a connecting lug (202) is arranged on the bearing disc (2), one end of the balance rod (3) is hinged to the balance rod support (6), and a connecting plate (301) is arranged at the other end of the balance rod and is hinged to the corresponding connecting lug (202) on the bearing disc (2).

6. The link lifting mechanism according to claim 1, wherein: the swing arm component is characterized in that a middle connecting rod (101) and a balance rod (3) are arranged on two sides of the swing arm component, and the balance rod (3) is arranged above the middle connecting rod (101) on the corresponding side.

7. The link lifting mechanism according to claim 1, wherein: the driving device (4) comprises a speed reducer (402) and a motor (401) which are connected, a bearing seat (403) is arranged in the vehicle body (9), the speed reducer (402) is installed on the bearing seat (403), and an output shaft of the speed reducer is connected with the cam (5).

8. The link lifting mechanism according to claim 1, wherein: the end part of the balance rod (3) is provided with a connecting plate (301) which is connected with the bearing disc (2), and when the bearing disc (2) is at a lifting high position, the first swing arm (103) and the second swing arm (102) in the swing arm component far away from one side of the driving connecting rod (7) and the connecting plate (301) at the end part of the balance rod (3) are positioned on the same vertical line.

9. The link lifting mechanism according to claim 1, wherein: when the bearing disc (2) is at a lifting low position, the cam (5), the driving connecting rod (7) and the middle connecting rod (101) are in the same straight line.

10. The link lifting mechanism according to claim 1, wherein: the swing arm vertex (10) and the swing arm low point (11) of the swing arm component in the lifting high position and the swing arm vertex (10) and the swing arm low point (11) of the swing arm component in the lifting low position are on the same vertical line.

Technical Field

The invention relates to the field of AGV trolleys, in particular to a connecting rod lifting mechanism.

Background

Along with the development of logistics storage industry, the demand of market to commodity circulation AGV (automated Guided vehicle) dolly is more and more increasing, and also higher and more high to the requirement of commodity circulation AGV dolly, wherein for the market demand that satisfies commodity circulation AGV dolly size diminishes, the load grow, various small-size heavy load's AGV dolly takes place in response to fortune, and simple structure, the space is little, the lifting mechanism that load capacity is strong is the indispensable part of small-size heavy load AGV dolly, but the commodity circulation AGV dolly among the prior art lifts structure realization lift with structures such as cam guide, lead screw guide more, the size is great, occupation space is more, be unfavorable for the inside overall arrangement of commodity circulation AGV, can't satisfy the requirement.

Disclosure of Invention

The invention aims to provide a connecting rod lifting mechanism which is compact in overall structure, accurate in lifting and large in bearing capacity and can meet the development requirements of smaller size and larger load of an AGV.

The purpose of the invention is realized by the following technical scheme:

the utility model provides a connecting rod lifting mechanism, includes link assembly, bears the dish, balancing pole, drive arrangement, cam and drive connecting rod, and wherein link assembly includes the intermediate link and locates the swing arm subassembly at intermediate link both ends, the swing arm subassembly includes first swing arm and second swing arm, and wherein first swing arm lower extreme is articulated with the automobile body, and the upper end is articulated with second swing arm lower extreme, and first swing arm and the articulated department of second swing arm correspond end connection with the intermediate link, and second swing arm upper end links to each other with bearing the dish, and drive connecting rod one end is articulated with the articulated department of first swing arm and second swing arm in the swing arm subassembly of arbitrary side, and the other end is articulated with the cam, just the cam passes through drive arrangement drive swing, and balancing pole one end articulates on the automobile body, the other end with it is articulated to bear the dish.

A swing arm support is arranged in the vehicle body, and the lower end of the first swing arm is hinged to the swing arm support through a first pin shaft.

The upper end of the first swing arm is hinged with the lower end of the second swing arm through a second pin shaft, and the two ends of the middle connecting rod and the end, far away from the cam, of the driving connecting rod are respectively installed on the second pin shafts of the corresponding swing arm assemblies.

The upper end of the second swing arm is hinged to a connecting block through a third pin shaft, and the connecting block is fixedly connected with the bearing plate.

The balance bar supporting seat is arranged in the car body, the bearing disc is provided with connecting lugs, one end of the balance bar is hinged to the balance bar supporting seat, and the other end of the balance bar is provided with a connecting plate hinged to the corresponding connecting lugs on the bearing disc.

The swing arm component is characterized in that a middle connecting rod and a balance rod are arranged on two sides of the swing arm component, and the balance rod is arranged above the middle connecting rod on the corresponding side.

The driving device comprises a speed reducer and a motor which are connected, a bearing seat is arranged in the vehicle body, the speed reducer is installed on the bearing seat, and an output shaft is connected with the cam.

The end part of the balancing rod is provided with a connecting plate which is connected with the bearing disc, and when the bearing disc is in a lifting position, the first swing arm and the second swing arm in the swing arm component far away from one side of the driving connecting rod and the connecting plate at the end part of the balancing rod are positioned on the same vertical line.

When the bearing disc is in a lifting low position, the cam, the driving connecting rod and the middle connecting rod are in the same straight line.

The swing arm vertex and the swing arm low point of the swing arm component when in the lifting high position and the swing arm vertex and the swing arm low point of the swing arm component when in the lifting low position are both positioned on the same vertical line.

The invention has the advantages and positive effects that:

1. the invention utilizes the middle connecting rod in the connecting rod assembly to move and drive the swing arm assemblies at two sides to swing, thereby realizing the lifting action of the bearing disc, having compact integral structure, and utilizing the balance rod to control and ensure that the swing arm top point and the swing arm low point of the swing arm assembly are always positioned on the same vertical line no matter the bearing disc is positioned at a lifting low position or a lifting high position, thereby ensuring the accuracy of the lifting of goods.

2. The invention adopts the dead point design of the mechanism, and the bearing can reach the maximum within the limited size.

3. The small-sized logistics AGV has the advantages of convenience in assembly, high strength, capability of meeting the development requirements of small size and large load of the logistics AGV, and attractive internal layout.

Drawings

FIG. 1 is a schematic view of the present invention mounted on an AGV,

figure 2 is a schematic view of the connecting-rod assembly of figure 1,

figure 3 is a schematic view of the drive arrangement of figure 1,

figure 4 is a schematic view of the carrier platter of figure 1,

figure 5 is a first schematic diagram of the working principle of the invention,

fig. 6 is a second schematic diagram of the working principle of the present invention.

The device comprises a connecting rod assembly, a middle connecting rod 101, a second swing arm 102, a first swing arm 103, a swing arm support 104, a first pin shaft 105, a second pin shaft 106, a third pin shaft 107, a bearing disc 2, a connecting hole 201, a connecting lug 202, a balance rod 3, a connecting plate 301, a driving device 4, a motor 401, a speed reducer 402, a bearing seat 403, a cam 5, a balance rod support 6, a driving connecting rod 7, a connecting block 8, a vehicle body 9, a swing arm vertex 10 and a swing arm low point 11.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 6, the present invention comprises a connecting rod assembly 1, a bearing plate 2, a balance rod 3, a driving device 4, a cam 5 and a driving connecting rod 7, wherein the connecting rod assembly 1 comprises a middle connecting rod 101 and swing arm assemblies respectively arranged at two ends of the middle connecting rod 101, the swing arm assemblies comprise a first swing arm 103 and a second swing arm 102, wherein the lower end of the first swing arm 103 is hinged with the chassis of the vehicle body 9, the upper end is hinged with the lower end of the second swing arm 102, the hinged part of the first swing arm 103 and the second swing arm 102 is connected with the corresponding end part of the middle connecting rod 101, the upper end of the second swing arm 102 is provided with a connecting block 8 which is connected with the bearing disc 2, one end of the driving connecting rod 7 is hinged with the hinged part of the first swing arm 103 and the second swing arm 102 in the swing arm component at any side, the other end is hinged with the cam 5, the cam 5 is driven to swing through the driving device 4, one end of the balance rod 3 is hinged to a chassis of the vehicle body 9, and the other end of the balance rod is hinged to the bearing disc 2. As shown in fig. 5 to 6, the driving device 4 of the present invention drives the swing arm assemblies at two sides of the connecting rod assembly 1 to swing through the cam 5 and the driving connecting rod 7, and further, the lifting motion of the bearing tray 2 is realized through the swing arm assemblies, in addition, the present invention performs freedom degree control through the balancing rods 3, and calculates and optimizes the sizes of the four swing arms and the balancing rods 3, so as to reduce the horizontal displacement of the middle connecting rod 101 in the lifting process of the connecting rod assembly 1, and ensure that the swing arm vertex 10 and the swing arm low point 11 of the swing arm assembly are always in the same vertical line no matter the bearing tray 2 is in the lifting low position or the lifting high position, thereby ensuring the accuracy of the lifting of the goods.

As shown in fig. 2, a swing arm support 104 is arranged on the chassis of the vehicle body 9, the lower end of the first swing arm 103 is hinged to the corresponding swing arm support 104 through a first pin 105, the upper end of the first swing arm 103 is hinged to the lower end of the second swing arm 102 through a second pin 106, the two ends of the middle connecting rod 101 and the end of the driving connecting rod 7 far away from the cam 5 are respectively mounted on the second pin 106 of the corresponding swing arm assembly, the upper end of the second swing arm 102 is hinged to the connecting block 8 through a third pin 107, the bearing disc 2 is connected to the connecting block 8 through a bolt, and as shown in fig. 4, a connecting hole 201 for the bolt to pass through is arranged on the bearing disc 2.

As shown in fig. 1, a balancing bar support 6 is arranged on one side of the chassis of the vehicle body 9 close to the driving device 4, as shown in fig. 4, a connecting lug 202 is arranged on the bearing disc 2, one end of the balancing bar 3 is hinged to the balancing bar support 6 through a pin shaft, and a connecting plate 301 is arranged at the other end of the balancing bar 3 and is hinged to the corresponding connecting lug 202 on the bearing disc 2.

As shown in fig. 1-2, the middle connecting rod 101 and the balance bar 3 are disposed on both sides of the swing arm assembly, and the balance bar 3 is disposed above the middle connecting rod 101 on the corresponding side.

As shown in fig. 3, in this embodiment, the driving device 4 includes a speed reducer 402 and a motor 401 connected to each other, and a bearing seat 403 is provided on a chassis of the vehicle body 9, the speed reducer 402 is mounted on the bearing seat 403, and an output shaft is connected to the cam 5.

As shown in fig. 5, when the carrier tray 2 is in the lifted position, the first swing arm 103 and the second swing arm 102 of the swing arm assembly on the side away from the driving link 7 and the connecting plate 301 of the end of the balance bar 3 are on the same vertical line, and this is the dead center position of the link assembly 1, and the load can be maximized within a limited size.

As shown in fig. 6, when the carrier tray 2 is at the lifting low position, the swing arm vertex 10 of the swing arm assembly is still on the same vertical line with the swing arm low point 11 of the swing arm assembly through the control adjustment of the balance bar 3, and the cam 5, the driving link 7 and the middle link 101 are on the same straight line at this time, that is, at the dead point position, and the load bearing is also ensured.

The working principle of the invention is as follows:

as shown in fig. 5-6, when the present invention works, the driving device 4 drives the middle connecting rod 101 in the connecting rod assembly 1 to move through the cam 5 and the driving connecting rod 7, and further drives the swing arm assemblies at two sides of the connecting rod assembly 1 to swing so as to realize the lifting action of the load-bearing tray 2, and the present invention performs freedom degree control through the balance rod 3, and through the size calculation optimization of the four swing arms and the balance rod 3, when the horizontal displacement of the middle connecting rod 101 in the lifting process of the connecting rod assembly 1 is reduced, it is ensured that the swing arm vertex 10 and the swing arm low point 11 of the swing arm assembly are always on the same vertical line no matter the load-bearing tray 2 is in the lifting low position or in the lifting high position, and further ensured that the accuracy of the lifting of the goods is ensured, wherein as shown in fig. 5, when the load-bearing tray 2 is in the lifting high position, the first swing arm 103 and the second swing arm 102 in the swing arm assembly far from the driving connecting rod 7 side and the connecting plate 301 at the end of the balance rod 3 are on the same vertical line, at this time, it is the dead point position of the connecting rod assembly 1, as shown in fig. 6, when the bearing tray 2 is at the lifting low position, the cam 5, the driving connecting rod 7 and the middle connecting rod 101 are at the dead point position, the invention adopts the dead point design of the mechanism, and the bearing is maximized within the limited size.