CN112830140A - Lifting device and transfer robot - Google Patents
Lifting device and transfer robot Download PDFInfo
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- CN112830140A CN112830140A CN202011632640.6A CN202011632640A CN112830140A CN 112830140 A CN112830140 A CN 112830140A CN 202011632640 A CN202011632640 A CN 202011632640A CN 112830140 A CN112830140 A CN 112830140A
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- bracket
- support
- rack
- lifting device
- assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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Abstract
The embodiment of the disclosure provides a lifting device and a transfer robot, relates to the field of intelligent warehousing equipment, and is used for reducing the cost and difficulty of the transfer robot. The lifting device comprises a folding bracket component, a locking mechanism and a transmission mechanism, wherein the bracket component comprises a first bracket and a second bracket, the first bracket is arranged on the moving chassis, and the upper end of the first bracket is hinged with the lower end of the second bracket through a hinge mechanism; when the bracket assembly is in an unfolded state, the lower end of the second bracket is butted with the upper end of the first bracket; the locking mechanism is used for locking and fixing the lower end of the second bracket and the upper end of the first bracket when the bracket assembly is in the unfolded state; the transmission mechanism is arranged on the support assembly, and when the support assembly is in an unfolded state, the transmission mechanism is used for driving the carrying device to ascend and descend along the first support and the second support. The embodiment of the disclosure also provides a transfer robot, which comprises the lifting device.
Description
Technical Field
The utility model belongs to intelligent storage equipment field especially relates to a elevating gear and transfer robot.
Background
In the field of intelligent warehousing, a carrying robot is often used to replace manpower to carry out carrying operation of goods so as to improve carrying efficiency. The transfer robot generally includes a movable chassis, a lifting device, a transfer device, and a storage rack, wherein the lifting device is mounted on the movable chassis, the transfer device and the storage rack are mounted on the lifting device, a cargo is placed on the transfer device, and the lifting device drives the transfer device to perform a lifting motion to lift the cargo.
In the related art, the lifting device generally includes a support assembly and a transmission mechanism, the transmission mechanism is mounted on the support assembly, the carrying device is connected to the transmission mechanism, and the transmission mechanism drives the carrying device to lift along the support assembly.
However, the height of the bracket assembly is usually 4-6m, so that the height space occupied by the lifting device is large, the space utilization rate of the packaging wooden box of the transport and handling robot is low, and the transport cost of the transport and handling robot is increased; meanwhile, the height of the lifting device is larger than the allowable height of a common goods elevator, the goods elevator cannot be used for transporting the transfer robot, and the transportation difficulty of the transfer robot is increased.
Disclosure of Invention
In view of this, an aspect of the disclosed embodiments provides a lifting device, which aims to reduce the height during transportation, improve the space utilization rate of a packing wooden box, and enable a transfer robot to be suitable for the height of a general goods elevator, so as to reduce the transportation cost and the transportation difficulty of the transfer robot.
The lifting device provided by the embodiment of the disclosure comprises a folding bracket component, a locking mechanism and a transmission mechanism, wherein the bracket component comprises a first bracket and a second bracket; when the bracket assembly is in an unfolded state, the lower end of the second bracket is butted with the upper end of the first bracket; the locking mechanism is used for locking and fixing the lower end of the second bracket and the upper end of the first bracket when the bracket assembly is in the unfolded state; the transmission mechanism is arranged on the support assembly, and when the support assembly is in an unfolded state, the transmission mechanism is used for driving the carrying device to ascend and descend along the first support and the second support.
The lifting device provided by the embodiment of the disclosure has the advantages that when the lifting device works normally, the support assembly is in an unfolded state, the lower end of the second support is in butt joint with the upper end of the first support, the transmission mechanism drives the carrying device to lift along the first support and the second support, the lower end of the second support and the upper end of the first support are locked through the locking mechanism, and the rigidity and the stability of the support assembly are improved. When transporting the transfer robot, the bracket component is in a folded state, the locking mechanism is opened, and the second bracket can rotate relative to the first bracket, so that the folding of the bracket component is realized. The lifting device provided by the embodiment of the disclosure reduces the height of the support component during transportation, thereby reducing the height of the carrying robot during transportation, improving the space utilization rate of the packaging wooden box and reducing the transportation cost of the carrying robot. And make transfer robot can be applicable to the height of general goods lift, can use general goods lift to transport transfer robot during the transportation, reduce transfer robot's the transportation degree of difficulty.
Another aspect of the disclosed embodiments provides a transfer robot, including a mobile chassis, a transfer device, a storage rack, and the above-mentioned lifting device, where the lifting device is installed on the mobile chassis, and the transfer device and the storage rack are installed on the lifting device.
The transfer robot provided in the embodiment of the present disclosure includes the lifting device, so that the transfer robot also has the advantages of the transfer device, which can be referred to the above description specifically, and is not described herein again.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is easy to see that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.
Fig. 1 is a schematic structural view of a transfer robot (a moving chassis is not shown) provided in an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a lifting device shown in FIG. 1;
FIG. 3 is a schematic structural view of the stent assembly of FIG. 2 in a deployed state;
FIG. 4 is an exploded view of the articulating mechanism of FIG. 3;
FIG. 5 is a schematic structural view of the stand assembly of FIG. 2 in a folded state;
FIG. 6 is an enlarged view of area A of FIG. 5;
FIG. 7 is an enlarged view of area B of FIG. 5;
FIG. 8 is an enlarged view of area C of FIG. 5;
FIG. 9 is a schematic structural view of the stand assembly of FIG. 2 in a folded state;
FIG. 10 is an enlarged view of area D of FIG. 9;
FIG. 11 is an enlarged view of area E of FIG. 9;
FIG. 12 is a cross-sectional view of the first stent;
FIG. 13 is a front view of the bracket assembly of FIG. 3;
FIG. 14 is a sectional view taken along line F-F of FIG. 13;
FIGS. 15a to 15d are schematic views illustrating the process of changing the lifting device of FIG. 1 from the unfolded state to the folded state;
fig. 16 is a schematic structural view of another lifting device in fig. 1.
Description of reference numerals:
100-a lifting device;
10-a bracket assembly;
11-a first support; 111-a first accommodating groove;
112-a first receiving channel; 12-a second scaffold;
121-a second accommodating groove; 122-a second receiving channel;
123-window;
20-a hinge mechanism;
21-a first articulation; 211 — a first mounting hole;
22-a second articulation; 221-a second mounting hole;
23-a pin shaft; 24-a first sleeve;
25-a second bushing; 26-a ring gasket;
27-a retainer ring for a shaft; 28-a support wheel;
30-a locking mechanism;
31-a first locking member; 311-a sliding groove;
312-a via; 313-a first sidewall;
314-a first side of the first L-shaped structure;
315 — second side of first L-shaped structure;
32-a locking block; 321-a first guiding ramp;
33-a pressure spring; 34-a second locking member;
341-locking hook; 342-an opening;
343-a second guiding ramp; 344 — a first side of the second L-shaped structure;
345-a second side of the second L-shaped structure; 35-bolts;
40-a transmission mechanism;
41-a first support; 42-a second support seat;
421-a guide rail; 422-base;
423-grooves; 43-a transmission belt;
44-a first guide wheel; 45-a second guide wheel;
46-a gas tension spring; 47-gear;
48-a first rack; 49-a second rack;
50-a first tensioning mechanism;
51-a third support seat; 511-a first moving slot;
512-a first threaded through hole; 52-first tensioning wheel;
521-a first rotating shaft; 53-first adjusting bolt;
60-a second tensioning mechanism;
61-a fourth support seat; 611-a second moving slot;
612-a second threaded through hole; 62-a second tensioning wheel;
621-a second rotating shaft; 63-a second adjusting bolt;
200-a handling device;
300-storage shelf.
Detailed Description
In the related art, the height of the bracket assembly of the lifting device is usually 4-6m, so that the lifting device occupies a large height space, the space utilization rate of a packaging wooden box of the transport and handling robot is low, and the transport cost of the transport and handling robot is increased; meanwhile, the height of the lifting device is larger than the allowable height of a common goods elevator, the goods elevator cannot be used for transporting the transfer robot, and the transportation difficulty of the transfer robot is increased.
In the lifting device provided by the embodiment of the disclosure, the first support and the second support are hinged through the hinge mechanisms, when the transfer robot is transported, the first support and the second support rotate to fold the support component, so that the height of the support component is reduced, the space utilization rate of a packaging wooden box is improved, and the transportation cost of the transfer robot is reduced; make transfer robot be applicable to the height of general goods lift simultaneously, can use general goods lift to transport robot, reduce transfer robot's the transportation degree of difficulty.
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Referring to fig. 1, a transfer robot provided in an embodiment of the present disclosure includes a moving chassis (not shown in the drawings), a lifting device 100, a transfer device 200, and a storage shelf 300, wherein the lifting device 100 is mounted on the moving chassis, and the transfer device 200 and the storage shelf 300 are mounted on the lifting device 100.
The mobile chassis is used for realizing the moving function of the transfer robot and other structures for bearing the transfer robot arranged on the mobile chassis, such as the lifting device 100, and the mobile chassis drives the lifting device 100, the transfer device 200 and the storage shelf 300 to transfer goods. The lifting device 100 has a lifting function, and the lifting device 100 can respond to a signal that the carrying device 200 needs to be lifted to lift the goods by a specified height, so as to drive the carrying device 200 to lift the goods. The handling device 200 is used for carrying and handling goods. The storage shelf 300 serves to temporarily store goods.
When goods are transported, the moving chassis drives the lifting device 100, the transporting device 200 and the storage shelf 300 to move to a designated place; the lifting device 100 receives a signal that the carrying device 200 needs to be lifted, and drives the carrying device 200 to be lifted to a specified height, so that the carrying device 200 is opposite to the goods; the carrying device 200 takes the goods and sends the goods to the storage shelf 300 for temporary storage. The movable chassis drives the lifting device 100, the carrying device 200, the storage shelf 300 and the goods to move to another designated place again; the carrying device 200 takes the goods on the storage shelf 300; the lifting device 100 receives the signal that the carrying device 200 needs to be lifted again, and drives the carrying device 200 and the goods to be lifted to another specified height; the transfer device 200 delivers the load and completes the transfer of the load. The transfer robot that this disclosed embodiment provided can replace the manpower to carry out the transport operation of goods, improves handling efficiency.
Referring to fig. 2, the lifting apparatus 100 includes a bracket assembly 10, a hinge mechanism 20, a locking mechanism 30, and a transmission mechanism 40.
The rack assembly 10 provides support and guidance for the carrying device 200, and the rack assembly 10 has a folding function, i.e. the rack assembly 10 has an unfolded state and a folded state. When the transfer robot is operating normally, the rack assembly 10 is in the unfolded state, and the lifting device 100 drives the transfer device 200 to perform the lifting operation. When the transfer robot is transported, the transfer device 200 is lowered to the bottom of the lifting device 100, that is, the transfer device 200 is located at a part of the support assembly 10 close to the mobile chassis, or the transfer device 200 is located at the lower part or the bottom of the support assembly 10, and the support assembly 10 is in a folded state, so as to reduce the height of the support assembly 10, thereby improving the space utilization rate of the packaging wooden box and reducing the transportation cost of the transfer robot; make transfer robot be applicable to the height of general goods lift simultaneously, can use general goods lift to transport robot, reduce transfer robot's the transportation degree of difficulty.
In some embodiments of the present disclosure, the number of the bracket assembly 10 may be one or more, and is not limited herein. Illustratively, referring to fig. 2, in the disclosed embodiment, there are two rack assemblies 10, and the two rack assemblies 10 are disposed opposite and parallel to each other. The carrying device 200 is respectively connected with the two bracket assemblies 10 in a sliding way, and the two bracket assemblies 10 simultaneously play a role in supporting and guiding the carrying device 200, so that the stability of the lifting motion of the carrying device 200 is improved.
Referring to fig. 3, the rack assembly 10 includes a first rack 11 and a second rack 12, the first rack 11 is mounted on the moving chassis, and an upper end of the first rack 11 is hinged to a lower end of the second rack 12 by a hinge mechanism 20. When the transfer robot is operating normally, the rack assembly 10 is in the unfolded state, that is, the lower end of the second rack 12 is in butt joint with the upper end of the first rack 11, so that the transfer device 200 can be lifted and lowered along the butt joint first rack 11 and second rack 12. When the transfer robot is transported, the bracket assembly 10 is in a folded state, that is, the second bracket 12 and the first bracket 11 rotate, so that the height of the bracket assembly 10 is reduced, the space utilization rate of the packaging wooden box is improved, and the transportation cost of the transfer robot is reduced; make transfer robot be applicable to the height of general goods lift simultaneously, can use general goods lift to transport robot, reduce transfer robot's the transportation degree of difficulty.
It should be noted that the lower end of the first bracket 11 refers to, for example, the bottom end of the first bracket 11 in fig. 3, and the upper end of the first bracket 11 refers to, for example, the top end of the first bracket 11 in fig. 3; the lower end of the second bracket 12 refers to, for example, the bottom end of fig. 3 where the second bracket 12 is connected to the first bracket 11, and the upper end of the second bracket 12 refers to, for example, the top end of the second bracket 12 in fig. 3.
For convenience of processing and adjustment, the first bracket 11 and the second bracket 12 may be a section bar, and in this embodiment, the section bar is a long straight column structure with a certain cross-sectional shape, so that the weight of the bracket assembly 10 can be reduced on the premise of meeting the strength of the assembly 10. When the rack assembly 10 is in the unfolded state, the lower end of the second rack 12 is butted against the upper end of the first rack 11, so that the carrying device 200 can be lifted along the butted first rack 11 and second rack 12. Illustratively, the cross-sections of the first frame 11 and the second frame 12 are the same to further facilitate the processing and adjustment of the first frame 11 and the second frame 12, and to facilitate the docking of the first frame 11 and the second frame 12 when the frame assembly 10 is in the unfolded state, thereby improving the smoothness of the lifting movement of the carrying device 200.
Fig. 12 is a schematic cross-sectional view of the first bracket 11. The first accommodating groove 111 and the first accommodating channel 112 are disposed inside the first bracket 11, the first accommodating groove 111 is disposed along an extending direction of the first bracket 11, in this embodiment, the extending direction of the first bracket 11 is a vertical direction or a direction perpendicular to the moving chassis. The first receiving passage 112 penetrates the first bracket 11, and the first receiving passage 112 is provided along an extending direction of the first bracket 11. The first receiving groove 111 and the first receiving passage 112 provide a passage for the transmission mechanism 40 to run and provide a protection function.
Likewise, the second support 12 is provided with a second receiving groove 121 and a second receiving channel 122 inside, and the second receiving groove 121 is arranged along the extending direction of the second support 12, in this embodiment, the extending direction of the second support 12 is a vertical direction or a direction perpendicular to the moving chassis. The second receiving passage 122 extends through the second bracket 12, and the second receiving passage 122 is provided along the extending direction of the second bracket 12. When the rack assembly 10 is in the expanded state, the second receiving slot 121 is abutted with the first receiving slot 111, and the second receiving channel 122 is abutted with the first receiving channel 112. The second receiving groove 121 and the second receiving passage 122 provide a running passage for the transmission mechanism 40 and provide a protection function.
The hinge mechanism 20 is used to hinge the first bracket 11 and the second bracket 12. Referring to fig. 4, 5 and 6, the hinge mechanism 20 includes a first hinge 21, a second hinge 22 and a pin 23, and a first end of the first hinge 21 is fixedly connected to an upper end of the first bracket 11. A first end of the second hinge member 22 is fixedly connected to a lower end of the second bracket 12. The pin 23 is rotatably connected to the second end of the second hinge member 22 and the second end of the first hinge member 21, respectively. During the unfolding and folding process of the bracket assembly 10, the second hinge 22 and the first hinge 21 rotate around the pin 23, so that the second bracket 12 and the first bracket 11 rotate relatively.
It should be noted that the first end of the first hinge member 21 is an end of the first hinge member 21 close to the first bracket 11 as shown in fig. 6, and the second end of the first hinge member 21 is an end of the first hinge member 21 close to the pin 23 as shown in fig. 6; the first end of the second hinge member 22 is the end of the second hinge member 22 adjacent to the second bracket 12 as shown in fig. 6, and the second end of the second hinge member 22 is the end of the second hinge member 22 adjacent to the pin 23 as shown in fig. 6.
Referring to fig. 4, in the embodiment of the present disclosure, the hinge mechanism 20 further includes a first shaft sleeve 24 and a second shaft sleeve 25, the first hinge member 21 is provided with a first mounting hole 211, and the first shaft sleeve 24 is disposed in the first mounting hole 211. The second hinge member 22 is provided with a second mounting hole 221, and the second bushing 25 is inserted into the second mounting hole 221. The pin 23 is pivotally installed on the first bushing 24 and the second bushing 25, that is, the pin 23 is installed in the first bushing 24 and the second bushing 25, and the pin 23 can rotate relative to the first bushing 24 and the second bushing 25, so that the first bracket 11 and the second bracket 12 are rotatably connected by the pin 23.
The hinge mechanism 20 further includes an annular washer 26, the annular washer 26 is disposed between the first hinge member 21 and the second hinge member 22, the annular washer 26 is disposed coaxially with the first bushing 24 and the second bushing 25, and the pin 23 is pivotally mounted to the first bushing 24, the annular washer 26 and the second bushing 25. One end of the pin shaft 23 penetrating through the first shaft sleeve 24, the annular gasket 26 and the second shaft sleeve 25 is axially limited through a shaft retainer ring 27, so that the pin shaft 23 is prevented from falling off.
In other embodiments of the present disclosure, both ends of the pin 23 may be rotatably connected to the first hinge member 21 and the second hinge member 22 through bearings, respectively.
The locking mechanism 30 is used for locking the lower end of the second frame 12 and the upper end of the first frame 11 when the frame assembly 10 is in the unfolded state. Referring to fig. 6 and 10, the locking mechanism 30 includes a first locking member 31, a locking block 32, a compression spring 33, and a second locking member 34. The first locking member 31 is a first L-shaped structure, a first side 314 of the first L-shaped structure is connected to the upper end of the first bracket 11, a second side 315 of the first L-shaped structure is provided with a sliding groove 311, a first side wall 313 of the sliding groove 311 is provided with a through hole 312, and the extending direction of the through hole 312 and the extending direction of the sliding groove 311 are both perpendicular to the extending direction of the first bracket 11. The locking block 32 is slidably installed in the sliding groove 311 and is threadedly coupled to the bolt 35 passing through the through hole 312. The compression spring 33 is sleeved on the bolt 35, and two ends of the compression spring 33 are respectively abutted against the first side 313 and the locking block 32.
When the bolt 35 is pulled in a direction away from the first support 11, the locking block 32 slides along the sliding groove 311 in a direction away from the first support 11, and the locking block 32 and the first side wall 313 compress the compression spring 33; when the bolt 35 is loosened, the compression spring 33 applies a restoring force to the locking block 32, and the locking block 32 slides along the sliding groove 311 in the direction of the first bracket 11, so that the locking block 32 can be automatically reset.
The second locking member 34 is a second L-shaped structure, a first side 344 of the second L-shaped structure is connected to the lower end of the second bracket 12, a locking hook 341 is disposed on an end surface of a second side 345 of the second L-shaped structure facing the first locking member 31, and an opening 342 is formed by the locking hook 341 and the end surface of the second side 345 of the second L-shaped structure facing the first locking member 31.
In normal operation of the transfer robot, the rack assembly 10 is in the unfolded state, that is, the upper end of the first rack 11 is butted against the lower end of the second rack 12, and the second locking member 34 is butted against the first locking member 31, that is, the second side 315 of the first L-shaped structure is butted against the second side 355 of the second L-shaped structure. At this time, the bolt 35 is loosened, the compressed compression spring 33 applies a pushing force to the locking block 32 due to a restoring action, the locking block 32 slides along the sliding groove 311 in the direction of the first bracket 11 and is inserted into the opening 342, so as to lock the first locking member 31 and the second locking member 34, further lock the upper end of the first bracket 11 and the lower end of the second bracket 12, and improve the rigidity and stability of the first bracket 11 and the second bracket 12 in the unfolded state, thereby improving the stability of the lifting movement of the carrying device 200.
When transporting the transfer robot, to the direction pulling bolt 35 of keeping away from first support 11, latch segment 32 slides to the direction of keeping away from first support 11 along sliding tray 311, latch segment 32 and first lateral wall 313 compress pressure spring 33, latch segment 32 leaves locking hook 341 from opening 342, second support 12 can rotate first support 11 relatively, with folding bracket component 10, thereby reduce the height of bracket component 10, improve the space utilization of packing wooden case, make the transfer robot be applicable to the height of general goods lift simultaneously, reduce transfer robot's cost of transportation and transportation degree of difficulty.
The first side wall 313 refers to, for example, a side wall of the slide groove 311 away from the first bracket 11 in fig. 6 and 10; the first side 314 of the first L-shaped structure refers to, for example, the side of fig. 10 where the first L-shaped structure is vertically disposed; the second side 315 of the first L-shaped structure is, for example, a side perpendicular to the first side 314 of the first L-shaped structure in fig. 10. The first side 344 of the second L-shaped structure refers to, for example, a side provided in the extending direction of the second bracket 12 in fig. 10; the second side 345 of the second L-shaped structure is, for example, a side perpendicular to the first side 344 of the second L-shaped structure in fig. 10.
Referring to fig. 6 and 10, in the embodiment of the present disclosure, an end surface of the locking block 32 facing the first bracket 11 is provided as a first guide slope 321. Accordingly, the end surface of the locking hook 341 facing away from the second holder 12 is provided as a second guide slope 343. When the holder assembly 10 is in the unfolded state, the second guiding inclined surface 343 is slidably engaged with the first guiding inclined surface 321 to guide the locking block 32 to be inserted into the opening 342.
When the bracket assembly 10 is unfolded, the second bracket 12 rotates relative to the first bracket 11, the second locking member 34 approaches the first locking member 31, i.e., the second edge 345 of the second L-shaped structure approaches the second edge 315 of the first L-shaped structure, and the second guiding inclined surface 343 of the locking hook 341 contacts the first guiding inclined surface 321 of the locking block 32. Due to the gravity of the second bracket 12 and the unfolding force applied to the second bracket 12, the second guiding inclined surface 343 moves toward the sliding groove 311 while applying a pushing force to the first guiding inclined surface 321, so that the locking block 32 slides along the sliding groove 311 in a direction away from the first bracket 11, and the locking block 32 and the first side wall 313 compress the compression spring 33. When the lower end of the second bracket 12 is in butt joint with the upper end of the first bracket 11, the locking hook 341 is located in the sliding groove 311, the locking block 32 slides to be opposite to the opening 342, the compressed pressure spring 33 exerts thrust on the locking block 32 due to the restoring action, and the locking block 32 is inserted into the opening 342, so that the first bracket 11 and the second bracket 12 are automatically locked when the bracket assembly 10 is in the unfolding state, and the locking operation convenience is improved.
In other embodiments of the present disclosure, the locking mechanism 30 may be a bolt and nut fastening mechanism. For example, the joint between the first bracket 11 and the second bracket 12 in the unfolded state is detachably connected by a bolt and a nut. When the bracket assembly 10 is unfolded, the first bracket 11 and the second bracket 12 are butted, and bolts and nuts are manually fastened to fasten the first bracket 11 and the second bracket 12; before the folding of the frame assembly 10, the fastened bolts and nuts are manually removed to facilitate the rotation of the second frame 12 relative to the first frame 11.
The lifting device 100 further comprises a transmission mechanism 40, and the transmission mechanism 40 is used for transmitting power. In the embodiment of the present disclosure, the transmission mechanism 40 is mounted on the rack assembly 10, and the transmission mechanism 40 drives the carrying device 200 to move up and down along the first rack 11 and the second rack 12 in the unfolded state.
Illustratively, in the disclosed embodiment, the transmission mechanism 40 is a belt transmission mechanism. Referring to fig. 8, 9, 10 and 11, the transmission mechanism 40 includes a first support 41, a driving gear, a second support 42, a driven gear and a transmission belt 43. The first supporting seat 41 is connected to the upper end of the second bracket 12, and the driving gear is rotatably connected to the inside of the first supporting seat 41 and can rotate around its own axis. The second supporting seat 42 is connected to the lower end of the first bracket 11, and the driven gear is rotatably connected to the inside of the second supporting seat 42 and can rotate around its axis. A drive belt 43 encircles the drive and driven gears. The driving gear drives the driving belt 43 to move when rotating, and the driving belt 43 drives the driven gear to rotate, so that the driving belt 43 moves along the first support 11 and the second support 12, and the carrying device 200 is driven to lift.
To protect the transmission belt 43 and provide a running channel for the transmission belt 43, the transmission belt 43 passes through the first receiving channel 112 of the first bracket 11 and the second receiving channel 122 of the second bracket 12 to surround the driving gear, and surrounds the driven gear along the second receiving groove 121 of the second bracket 12 and the first receiving groove 111 of the first bracket 11.
When the carriage assembly 10 is folded, excessive tension may be applied to the driving belt 43, which may affect the driving accuracy of the driving belt 43, and even damage the driving belt 43, which may affect the reliability of the lifting device 100. To solve the above technical problem, in the embodiment of the present disclosure, the transmission mechanism 40 further includes a base 422. Base 422 fixed mounting is on first support 11, and is close to and removes the chassis, and first support 11 passes through base 422 and is connected with removing the chassis, second supporting seat 42 and base 422 sliding connection, and second supporting seat 42 can be dismantled with removing the chassis and be connected.
Referring to fig. 5 and 9, when the bracket assembly 10 is folded, the connection between the second supporting seat 42 and the movable chassis is firstly disassembled, so that the second bracket 12 rotates relative to the first bracket 11, that is, the second bracket 12 rotates in the direction a shown in fig. 5 and 9, the driving gear generates a pulling force on the driving belt 43, the driving belt 43 further generates a pulling force on the driven gear, thereby enabling the second supporting seat 42 to move upwards relative to the base 422, avoiding applying excessive pulling force on the driving belt 43, ensuring the transmission precision of the driving belt 43, preventing the driving belt 43 from being damaged, and ensuring the reliability of the lifting device 100.
When the bracket assembly 10 is unfolded, the second bracket 12 is rotated reversely with respect to the first bracket 11, that is, the second bracket 12 is rotated in a direction opposite to the direction a, the driving gear pushes the driving belt 43, the driving belt 43 further pushes the driven gear and the second supporting seat 42, or the second supporting seat 42 is manually pushed, so that the second supporting seat 42 slides downward with respect to the base 422. Then, the second supporting seat 42 is connected to the movable chassis to improve the stability of the first support 11, thereby facilitating the lifting operation of the carrying device 200.
In order to improve the stability of the relative sliding between the base 422 and the second support seat 42, a guiding structure is disposed between the base 422 and the second support seat 42. Exemplarily, referring to fig. 11, in the embodiment of the present disclosure, the second supporting seat 42 is provided with a guide rail 421, the base 422 is provided with a groove 423 that is matched with the guide rail 421, and an extending direction of the groove 423 is the same as an extending direction of the first bracket 11. In other embodiments of the present disclosure, the second supporting seat 42 is provided with a groove 423, the base 422 is provided with a guide rail 421 matching with the groove 423, and an extending direction of the guide rail 421 is the same as an extending direction of the first bracket 11.
Referring to fig. 7 and 11, in the embodiment of the present disclosure, the lifting device 100 further includes a tension elastic member, which is an elastic member that receives a tensile force during operation. One end of the tension elastic element is connected with the second supporting seat 42, and the other end of the tension elastic element is connected with the movable chassis. When the bracket component 10 is folded, the second supporting seat 42 moves upwards relative to the base 422, the second supporting seat 42 stretches the tension elastic component, and the tension elastic component exerts reverse tension on the second supporting seat 42 due to the restoring action, so that the driven gear is pulled to tension the transmission belt 43, the transmission belt 43 is prevented from jumping with the driven gear, and the transmission precision of the transmission mechanism 40 when the bracket component 10 is in the unfolding state is ensured.
Meanwhile, when the bracket assembly 10 is in the folded state, the second support seat 42 stretches the tension elastic element, and the tension elastic element exerts a reverse tension on the second support seat 42 and the driven gear. When the bracket assembly 10 is unfolded, the second bracket 12 is rotated in the direction opposite to the direction a, and the second supporting seat 42 automatically slides downwards relative to the base 422 due to the reverse pulling force, so that manual operation is not required. For example, after the transportation of the transfer robot is completed, when the rack assembly 10 is unfolded, the crane can be used to drive the second rack 12 to rotate in the direction opposite to the direction a, and the second supporting seat 42 and the driven gear can realize automatic reset, so that the convenience of unfolding the rack assembly 10 is improved.
In the embodiment of the present disclosure, the tension elastic element is a tension spring 46, one end of the tension spring 46 is connected to the second support seat 42, and the other end of the tension spring 46 is connected to the mobile chassis. In other embodiments of the present disclosure, the tension elastic member is a tension spring, one end of the tension spring is connected to the second supporting seat 42, and the other end of the tension spring is connected to the movable chassis.
Referring to fig. 10, in the embodiment of the present disclosure, the hinge mechanism 20 further includes a supporting wheel 28, the supporting wheel 28 is connected to the pin 23 of the hinge mechanism 20, and when the carriage assembly 10 is in the folded state, the outer circumferential surface of the supporting wheel 28 is in contact with the toothless surface of the driving belt 43. Supporting wheel 28 provides supporting role to drive belt 43 in the folding process, and when bracket component 10 expandes for drive belt 43 can reset fast, prevents that drive belt 43 from taking place the dislocation, and then guarantees the stationarity that handling device 200 rose.
Referring to fig. 9 and 10, in the embodiment of the present disclosure, the lifting device 100 includes a middle tensioning mechanism, the middle tensioning mechanism is disposed at the joint of the first support 11 and the second support 12, and the middle tensioning mechanism is in contact with the transmission belt 43 and is used for tensioning the transmission belt 43 when the support assembly 10 is in the folded state, so as to prevent the transmission belt 43 from loosening during the folding process and causing the transmission belt 43 to skip teeth, thereby affecting the transmission accuracy of the transmission belt 43 when the support assembly 10 is in the unfolded state.
Referring to fig. 10, the middle tensioning mechanism includes a first guide wheel 44 and a second guide wheel 45. The first guide wheel 44 is rotatably connected to the upper end of the first frame 11, the outer circumference of the first guide wheel 44 is in contact with the toothed surface of the belt 43, the second guide wheel 45 is rotatably connected to the lower end of the second frame 12, and the outer circumference of the second guide wheel 45 is in contact with the toothed surface of the belt 43. When the rack assembly 10 is folded, the first guide wheel 44 and the second guide wheel 45 tension and support the transmission belt 43, so as to prevent the transmission belt 43 from jumping teeth due to looseness of the transmission belt 43 in the folding process, thereby influencing the transmission precision of the transmission belt 43 when the rack assembly 10 is in the unfolding state.
Referring to fig. 5, 9 and 14, in the disclosed embodiment, the lifting device 100 further includes a top tensioning mechanism connected to the upper end of the second frame 12, the top tensioning mechanism being in contact with the belt 43, the top tensioning mechanism being configured to tension the belt 43 when the frame assembly 10 is in the collapsed state.
Illustratively, in the disclosed embodiment, the top tensioning mechanism includes a first tensioning mechanism 50 and a second tensioning mechanism 60, and both the first tensioning mechanism 50 and the second tensioning mechanism 60 are disposed at the upper end of the second bracket 12. The first tensioning mechanism 50 tensions the transmission belt 43 in the second accommodating channel 121, and the second tensioning mechanism 60 tensions the transmission belt 43 in the second accommodating channel 122, that is, the transmission belts 43 on both sides of the driving gear are tensioned, so that the transmission belt 43 and the driving gear are prevented from jumping, and the transmission precision of the transmission mechanism 40 is ensured.
Referring to fig. 13 and 14, the first tensioning mechanism 50 includes two third supporting seats 51, a first tensioning wheel 52, and two first adjusting bolts 53. The two third supporting seats 51 are respectively connected to two sides of the second accommodating groove 121, the two third supporting seats 51 are provided with first moving grooves 511, the extending direction of the first moving grooves 511 is perpendicular to the extending direction of the second accommodating groove 121, and the side wall of the first moving groove 511 far away from the second accommodating groove 121 is provided with two first threaded through holes 512. The outer circumferential surface of the first tension wheel 52 contacts the transmission belt 43 in the second receiving groove 121, the first tension wheel 52 has a first rotating shaft 521, and both ends of the first rotating shaft 521 are slidably connected to the first moving groove 511, respectively. The two first adjusting bolts 53 are respectively in threaded connection with the two first threaded through holes 512, and the two first adjusting bolts 53 are respectively abutted against two ends of the first rotating shaft 521.
In the embodiment of the present disclosure, the first tensioning wheel 52 tensions the driving belt 43 in the second accommodating groove 121, so as to prevent the driving belt 43 from loosening to cause the tooth jumping of the driving belt 43 when the carriage assembly 10 is folded, thereby affecting the driving accuracy of the driving belt 43 when the carriage assembly 10 is unfolded. And the position of the first rotating shaft 521 can be adjusted by adjusting the depth of the first adjusting bolt 53 extending into the first moving slot 511, so as to adjust the relative position of the first tensioning wheel 52 and the transmission belt 43, thereby adjusting the tensioning degree of the transmission belt 43.
Referring to fig. 13 and 14, the second tensioning mechanism 60 includes two fourth supporting seats 61, a second tensioning wheel 62, and two second adjusting bolts 63. The window 123 is opened in the second bracket 12, the window 123 penetrates through the second accommodating channel 122, the two fourth supporting seats 61 are connected to two sides of the window 123 respectively, the two fourth supporting seats 61 are provided with a second moving groove 611, the extending direction of the second moving groove 611 is perpendicular to the extending direction of the second accommodating groove 121, and two second threaded through holes 612 are formed in the side wall of the second moving groove 611 far away from the second accommodating groove 121. The outer circumferential surface of the second tension pulley 62 contacts the transmission belt 43 in the second receiving passage 122, and the second tension pulley 62 has a second rotation shaft 621, and both ends of the second rotation shaft 621 are slidably coupled in the second moving grooves 611, respectively. The two second adjusting bolts 63 are respectively in threaded connection with the two second threaded through holes 612, and the two second adjusting bolts 63 respectively abut against two ends of the second rotating shaft 621.
In the embodiment of the present disclosure, the second tensioning wheel 62 tensions the transmission belt 43 in the second accommodating channel 122, so as to prevent the transmission belt 43 from loosening when the carriage assembly 10 is folded, which may cause the transmission belt 43 to jump, thereby affecting the transmission accuracy of the transmission belt 43 when the carriage assembly 10 is unfolded. The position of the second rotating shaft 621 can be adjusted by adjusting the depth of the second adjusting bolt 63 extending into the second moving groove 611, so as to adjust the relative position of the second tension pulley 62 and the transmission belt 43, thereby adjusting the tension degree of the transmission belt 43.
To facilitate understanding of the technical solutions of the embodiments of the present disclosure, the processes of folding and unfolding the lifting device 100 provided by the embodiments of the present disclosure will be specifically described below.
Referring to fig. 15a, 15b, 15c and 15d, schematic diagrams of a process of changing the lifting device 100 from the unfolded state to the folded state in the embodiment of the present disclosure are shown.
First, the bolt 35 of the locking mechanism 30 is pulled in a direction away from the first bracket 11, the bolt 35 pulls the locking block 32 to slide along the sliding groove 311 in a direction away from the first bracket 11, the locking block 32 and the first side wall 313 compress the compression spring 33, and the locking block 32 is pulled out from the opening 342 of the locking hook 341. The connection between the second support 42 and the mobile chassis is broken. The upper end of the second bracket 12 is pulled in the direction a by a crane or manually, so that the lower end of the second bracket 12 and the second hinge member 22 rotate relative to the first hinge member 21 and the upper end of the first bracket 11 under the action of the pin 23.
The driving gear generates a pulling force on the transmission belt 43, toothed surfaces of the transmission belt 43 in the first accommodating channel 112 and the second accommodating channel 122 are in contact with a first guide wheel 44 and a second guide wheel 45 of the middle tensioning mechanism, and the first guide wheel 44 and the second guide wheel 45 rotate and support the transmission belt 43; the toothless surface of the driving belt 43 in the first receiving groove 111 and the second receiving groove 121 is in contact with the supporting wheel 28, and the supporting wheel 28 supports the driving belt 43. The driving belt 43 generates a pulling force on the driven gear, so that the second supporting seat 42 moves upward relative to the base 422. The second support seat 42 stretches the tension elastic member, and the tension elastic member exerts reverse tension on the second support seat 42, and pulls the driven gear to tension the transmission belt 43. The second support 12 continues to rotate until the second support 12 is flush with the first support 11 as shown in fig. 15d, and the folding of the lifting device 100 is achieved.
Referring to fig. 15d, 15c, 15b and 15a, that is, referring back to fig. 15a to 15d, there is a schematic diagram illustrating a process of changing the lifting device 100 from the folded state to the unfolded state in the embodiment of the present disclosure.
The upper end of the second bracket 12 is pulled by a crane or manually in a direction opposite to the direction a, so that the lower end of the second bracket 12 and the second hinge member 22 are rotated in opposite directions relative to the upper ends of the first hinge member 21 and the first bracket 11 by the pin 23. Due to the reverse pulling force applied by the pulling elastic member to the second supporting seat 42 and the driven gear, and the force applied by the crane and the manual work, the second supporting seat 42 automatically slides downwards relative to the base 422, and the driven gear pulls the transmission belt 43 to move downwards of the first bracket 11. The toothless surface of the drive belt 43 is disengaged from the support wheel 28. The driving belt 43 passes through the first receiving channel 112 of the first bracket 11 and the second receiving channel 122 of the second bracket 12 to surround the driving gear, and surrounds the driven gear along the second receiving groove 121 of the second bracket 12 and the first receiving groove 111 of the first bracket 11.
During the rotation of the second bracket 12 relative to the first bracket 11, the second locking member 34 approaches the first locking member 31, i.e. the second side 345 of the second L-shaped structure approaches the second side 315 of the first L-shaped structure, and the second guiding slope 343 of the locking hook 341 contacts the first guiding slope 321 of the locking block 32. Due to the gravity of the second bracket 12 and the unfolding force applied to the second bracket 12, the second guiding inclined surface 343 moves toward the sliding groove 311 while applying a pushing force to the first guiding inclined surface 321, so that the locking block 32 slides along the sliding groove 311 in a direction away from the first bracket 11, and the locking block 32 and the first side wall 313 compress the compression spring 33. When the lower end of the second bracket 12 is abutted to the upper end of the first bracket 11, the locking hook 341 is located in the sliding groove 311, the locking block 32 slides to be opposite to the opening 342, the pressure spring 33 applies restoring force to the locking block 32, the locking block 32 is inserted into the opening 342, the first bracket 11 and the second bracket 12 are automatically locked and connected, the second supporting seat 42 is connected with the movable chassis, and the lifting device 100 is unfolded.
Referring to fig. 16, the present disclosure also provides another lifting device including a bracket assembly 10, a hinge mechanism 20, a locking mechanism 30, and a transmission mechanism 40. The bracket assembly 10 comprises a first bracket 11 and a second bracket 12, the first bracket 11 is mounted on the mobile chassis, and the upper end of the first bracket 11 is hinged with the lower end of the second bracket 12 through a hinge mechanism 20; when the rack assembly 10 is in the unfolded state, the lower end of the second rack 12 is butted against the upper end of the first rack 11. The locking mechanism 30 is used for locking the lower end of the second frame 12 and the upper end of the first frame 11 when the frame assembly 10 is in the unfolded state. The transmission mechanism 40 is mounted on the rack assembly 10, and when the rack assembly 10 is in the unfolded state, the transmission mechanism 40 is used for driving the carrying device 200 to ascend and descend along the first rack 11 and the second rack 12.
In another embodiment of the present disclosure, the stand assembly 10, the hinge mechanism 20, and the locking mechanism 30 are described above with reference to the embodiments of the present disclosure. Compared with the lifting device 100 provided by the above embodiment of the present disclosure, the difference is that in another embodiment of the present disclosure, the transmission mechanism is a rack and pinion transmission mechanism.
Referring to fig. 16, the transmission mechanism includes a first rack 48, a second rack 49, and a gear 47, the first rack 48 is mounted on the first bracket 11, and the first rack 48 is disposed along the extending direction of the first bracket 11. The second rack 49 is mounted on the second bracket 12, the second rack 49 is disposed along the extending direction of the second bracket 12, the tooth shape of the second rack 49 is the same as the tooth shape of the first rack 48, and when the bracket assembly 10 is in the unfolded state, the second rack 49 is in butt joint with the first rack 48. The gear 47 is rotatably connected to the carrying device 200, the gear 47 can rotate around its axis, and the gear 47 is engaged with the first rack 48 and/or the second rack 49.
When the transfer robot including the above lifting device works normally, the rack assembly 10 is unfolded, that is, the lower end of the second rack 12 is butted against the upper end of the first rack 11, the second rack 49 is butted against the first rack 48, and the gear 47 can drive the transfer device 200 to lift along the first rack 48 and/or the second rack 49. When the transfer robot comprising the lifting device is transported, the transfer device 200 is lowered to the bottom of the first support 11, the support assembly 10 is folded, namely the second support 12 and the first support 11 rotate, and the second rack 49 is separated from the first rack 48, so that the height of the support assembly 10 is reduced, the space utilization rate of the packaging wooden box is improved, and the transportation cost of the transfer robot is reduced; make transfer robot be applicable to the height of general goods lift simultaneously, can use general goods lift to transport robot, reduce transfer robot's the transportation degree of difficulty.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (10)
1. A lifting device, comprising:
the foldable support assembly comprises a first support and a second support, the first support is arranged on the moving chassis, and the upper end of the first support is hinged with the lower end of the second support through a hinge mechanism; when the bracket assembly is in an unfolded state, the lower end of the second bracket is butted with the upper end of the first bracket;
the locking mechanism is used for locking and fixing the lower end of the second support and the upper end of the first support when the support assembly is in an unfolded state;
and the transmission mechanism is arranged on the support component, and when the support component is in an unfolded state, the transmission mechanism is used for driving the carrying device to lift along the first support and the second support.
2. The lift device of claim 1, wherein the locking mechanism comprises:
the first locking piece is connected with the upper end of the first bracket, the first locking piece is provided with a sliding groove, a first side wall of the sliding groove is provided with a through hole, and the extending direction of the through hole and the extending direction of the sliding groove are both perpendicular to the extending direction of the first bracket;
the locking block is slidably arranged in the sliding groove and is in threaded connection with the bolt penetrating through the through hole;
the compression spring is sleeved on the bolt, and two ends of the compression spring are respectively abutted against the first side wall and the locking block;
the second retaining member, the second retaining member with the lower extreme of second support is connected, the second retaining member is provided with the locking hook, the locking hook has the opening, when the bracket component is in the expanded state, the second retaining member with first retaining member docks, the latch segment inserts in the opening.
3. The lifting device as claimed in claim 2, wherein the end face of the locking block facing the first bracket is provided with a first guiding slope;
the end face, far away from the second support, of the locking hook is provided with a second guide inclined face, and when the support assembly is in an unfolded state, the second guide inclined face is in sliding fit with the first guide inclined face so as to guide the locking block to be inserted into the opening.
4. A lifting device as claimed in any one of claims 1 to 3, characterized in that the transmission mechanism comprises:
the first support seat is connected to the upper end of the second support;
the driving gear is rotationally connected in the first supporting seat and can rotate around the axis of the driving gear;
the base is fixedly arranged on the first support and is close to the movable chassis, and the first support is connected with the movable chassis through the base;
the second supporting seat is connected with the base in a sliding mode and detachably connected with the movable chassis;
the driven gear is rotationally connected into the second supporting seat and can rotate around the axis of the driven gear;
a drive belt encircling the drive gear and the driven gear.
5. The lifting device as claimed in claim 4, further comprising a tension elastic member, one end of the tension elastic member being connected to the second support base, and the other end of the tension elastic member being connected to the movable chassis.
6. The lift device of claim 4, comprising a middle tensioning mechanism disposed at the interface of the first bracket and the second bracket, the middle tensioning mechanism in contact with the drive belt, the middle tensioning mechanism configured to tension the drive belt when the bracket assembly is in the collapsed state.
7. The lifting device as claimed in claim 4, characterized in that the first support is internally provided with:
the first accommodating groove is arranged along the extending direction of the first support;
the first accommodating channel penetrates through the first bracket, and is arranged along the extending direction of the first bracket;
the second support is internally provided with:
the second accommodating groove is arranged along the extending direction of the second support;
a second accommodating passage which penetrates through the second bracket and is arranged along the extending direction of the second bracket;
the driving belt penetrates through the first accommodating channel and the second accommodating channel to surround the driving gear, and surrounds the driven gear along the second accommodating channel and the first accommodating channel; when the bracket component is in an unfolded state, the second accommodating groove is in butt joint with the first accommodating groove, and the second accommodating channel is in butt joint with the first accommodating channel.
8. The lift apparatus of claim 7, including a top tensioning mechanism connected to an upper end of said second support frame, said top tensioning mechanism being in contact with said drive belt, said top tensioning mechanism being configured to tension said drive belt when said support frame assembly is in a collapsed position.
9. A lifting device as claimed in any one of claims 1 to 3, characterized in that the transmission mechanism comprises:
the first rack is arranged on the first bracket and arranged along the extending direction of the first bracket;
the second rack is arranged on the second support and arranged along the extension direction of the second support, the tooth form of the second rack is the same as that of the first rack, and when the support assembly is in an unfolded state, the second rack is in butt joint with the first rack;
the gear is rotationally connected with the carrying device and can rotate around the axis of the gear, and the gear is meshed with the first rack and/or the second rack.
10. A transfer robot comprising a moving chassis, a transfer device, a storage rack, and the lifting device of any one of claims 1 to 9, the lifting device being mounted on the moving chassis, the transfer device and the storage rack being mounted on the lifting device.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011632640.6A CN112830140B (en) | 2020-12-31 | 2020-12-31 | Lifting device and transfer robot |
| CN202211079371.4A CN115417044A (en) | 2020-12-31 | 2020-12-31 | Lifting device and transfer robot |
| PCT/CN2021/130473 WO2022142773A1 (en) | 2020-12-31 | 2021-11-12 | Lifting apparatus and handling robot |
| TW110146115A TWI803094B (en) | 2020-12-31 | 2021-12-09 | Lifting apparatus and handling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011632640.6A CN112830140B (en) | 2020-12-31 | 2020-12-31 | Lifting device and transfer robot |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211079371.4A Division CN115417044A (en) | 2020-12-31 | 2020-12-31 | Lifting device and transfer robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112830140A true CN112830140A (en) | 2021-05-25 |
| CN112830140B CN112830140B (en) | 2022-09-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011632640.6A Active CN112830140B (en) | 2020-12-31 | 2020-12-31 | Lifting device and transfer robot |
| CN202211079371.4A Pending CN115417044A (en) | 2020-12-31 | 2020-12-31 | Lifting device and transfer robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211079371.4A Pending CN115417044A (en) | 2020-12-31 | 2020-12-31 | Lifting device and transfer robot |
Country Status (3)
| Country | Link |
|---|---|
| CN (2) | CN112830140B (en) |
| TW (1) | TWI803094B (en) |
| WO (1) | WO2022142773A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022142773A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市海柔创新科技有限公司 | Lifting apparatus and handling robot |
| CN114701798A (en) * | 2022-03-31 | 2022-07-05 | 河南云迹智能技术有限公司 | Automatic multilayer object conveying robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115417044A (en) | 2022-12-02 |
| CN112830140B (en) | 2022-09-30 |
| WO2022142773A1 (en) | 2022-07-07 |
| TWI803094B (en) | 2023-05-21 |
| TW202227354A (en) | 2022-07-16 |
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