Lifting apparatus supported by two wheel automatic guided vehicles
A mobile lifting apparatus has a platform coupled to elongated lifting arms arranged in a crossed configuration with a hinge at center portions of the lifting arms which allows the lifting arms to rotate in a crossed scissor manner when the platform is raised or lowered. The lower ends of the lift arms are coupled to automatic guided vehicles which move towards each other to raise the platform and move away from each other to lower the platform. A locking mechanism coupled to the lifting arms is actuated to prevent movement of the lifting arms to lock the height of the platform.
1. A lifting apparatus comprising:
a platform;
a first lift arm having a first upper end coupled to a hinge on a lower surface of the platform;
a second lift arm having a second upper end coupled to a slide which moves within a track mounted on the lower surface of the platform;
a lift arm hinge coupled to center portions of the first lift arm and the second lift arm;
a first automatic guided vehicle (AGV) having a first coupling attached to a first lower end of the first lift arm; and
a second AGV having a second coupling attached to a second lower end of the second lift arm;
wherein the lifting apparatus has a lowered configuration where the platform is lowered and a distance between the first coupling and the second coupling is maintained at a maximum predetermined distance and a raised configuration where the platform is raised and the distance between the first coupling and the second coupling is less than the maximum predetermined distance and equal to a minimum predetermined distance.
2. The lift apparatus of claim 1 further comprising:
a rotational coupling having a vertical rotational axis between the first lower end of the first lift arm and the first AGV.
3. The lift apparatus of claim 1 further comprising:
a rotational coupling having a vertical rotational axis between the second lower end of the second lift arm and the second AGV.
4. The lift apparatus of claim 1 wherein the slide has:
a wheel which rolls against inner surfaces of the track; or
bearings which roll against an inner surface of the track; or
a low friction surface which slides against an inner surface of the track.
5. The lift apparatus of claim 1 further comprising:
a third lift arm having a third upper end coupled to the hinge on a lower front portion of the platform and a third lower end coupled to the first AGV wherein the third lift arm is parallel to the first lift arm.
6. The lift apparatus of claim 1 further comprising:
a third lift arm having a third upper end coupled to the slide on a lower rear portion of the platform and a third lower end coupled to the second AGV wherein the third lift arm is parallel to the second lift arm.
7. The lift apparatus of claim 1 wherein the platform has a planar upper surface.
8. The lift apparatus of claim 1 further comprising:
a controller for controlling the movements of the first AGV and the second AGV; wherein the controller controls the first AGV and the second AGV to move the first coupling and the second coupling towards each other to raise the platform and controls the first AGV and the second AGV to move the first coupling and the second coupling away from each other to the maximum predetermined distance to fully lower the platform.
9. The lift apparatus of claim 1 further comprising:
a controller for controlling the movements of the first AGV and the second AGV;
wherein the controller controls the first AGV and the second AGV to move independently while maintaining a predetermined distance between the first coupling and the second coupling.
10. The lift apparatus of claim 1 further comprising:
a controller for controlling the movements of the first AGV and the second AGV; wherein the controller controls the first AGV and the second AGV to move independently while maintaining a fixed distance between the first coupling and the second coupling that is less than the maximum predetermined distance.
11. The lift apparatus of claim 1 further comprising:
a third lift arm having a third upper end coupled to the lower surface of the platform;
a fourth lift arm having a fourth upper end coupled to a second slide on the lower surface of the platform;
a second lift arm hinge coupled to center portions of the third lift arm and the fourth lift arm;
a third automatic guided vehicle (AGV) having a third coupling attached to a third lower end of the third lift arm; and
a fourth AGV having a fourth coupling attached to a fourth lower end of the fourth lift arm.
12. The lift apparatus of claim 11 further comprising:
a controller for controlling the movements of the first AGV, the second AGV, the third AGV and the fourth AGV;
wherein the controller controls the first AGV and the second AGV to maintain a fixed distance between the first coupling and the second coupling and the controller controls the third AGV and the fourth AGV to maintain the fixed distance between the third coupling and the fourth coupling.
13. The lift apparatus of claim 1 further comprising:
a locking mechanism coupled to the first lift arm and the second lift arm wherein the locking mechanism has a locked position that prevents the first lift arm from rotating relative to the second lift arm about the hinge and the locking mechanism has an unlocked position that allows the first lift arm to rotate relative to the second lift arm about the hinge.
14. The lift apparatus of claim 1 further comprising:
a locking mechanism coupled to the track wherein the locking mechanism has a locked position that prevents the slide and the second lift arm from moving relative to the platform and an unlocked position which allows the slide and the second lift arm to move relative to the platform.
15. The lift apparatus of claim 13 , wherein the locking mechanism includes a plurality of holes and a pin, the pin is inserted through one of the plurality of holes in the locked position and the pin is retracted in the unlocked position.
16. The lift apparatus of claim 14 , wherein the locking mechanism includes a plurality of holes and a pin, the pin is inserted through one of the plurality of holes in the locked position and the pin is retracted in the unlocked position.