CN214611320U - Lifting mechanism and robot - Google Patents
Lifting mechanism and robot Download PDFInfo
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- CN214611320U CN214611320U CN202120370249.7U CN202120370249U CN214611320U CN 214611320 U CN214611320 U CN 214611320U CN 202120370249 U CN202120370249 U CN 202120370249U CN 214611320 U CN214611320 U CN 214611320U
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Abstract
The utility model belongs to the technical field of the storage commodity circulation, specifically disclose a lifting mechanism and robot, lifting mechanism includes: a mounting seat; the lifting seats are oppositely arranged above the mounting seat at intervals; the scissors fork assembly is positioned between the mounting seat and the lifting seat and comprises a first connecting rod and a second connecting rod which are hinged, the upper end of the first connecting rod is hinged with the lifting seat, the lower end of the first connecting rod is in sliding or rolling fit with the mounting seat, the lower end of the second connecting rod is hinged with the mounting seat, and the upper end of the second connecting rod is in rolling or sliding fit with the lifting seat; the lifting driving assembly comprises an eccentric motor and a crank, the eccentric motor is arranged on the mounting seat, an eccentric output shaft of the eccentric motor is rotatably connected with a first end of the crank, and a second end of the crank is hinged with the lifting seat. The robot comprises the lifting mechanism. The utility model discloses a lifting mechanism and robot can reduce the cost and the energy consumption of lifting mechanism and robot, and improve lift stability.
Description
Technical Field
The utility model relates to a storage logistics technical field especially relates to a lifting mechanism and robot.
Background
With the explosion of electronic commerce, the traditional warehouse logistics system mainly based on manual work is gradually converted into an intelligent logistics system mainly based on robot work, so that the logistics efficiency is improved, the logistics cost is reduced, and the logistics management and distribution precision are improved.
The jacking robot is a relatively common intelligent robot in the field of warehouse logistics, can submerge the bottom of a material, and can carry the material by lifting the material. The existing jacking robot generally comprises a mobile chassis, a tray and a lifting mechanism, the mobile chassis is used for realizing autonomous movement of the jacking robot, the tray is used for bearing materials, and the lifting mechanism is connected between the tray and the mobile chassis and used for lifting the tray, so that the materials are lifted or placed.
Conventional lifting mechanisms are generally divided into two categories: the first one is to use an electric push rod or other lifting mechanisms to directly lift and match with a guide rod and slide block structure to realize guiding, and the other one is to use a driving motor to match with a link mechanism to realize lifting. The first lifting scheme requires a small driving force, but has high requirements on machining and assembling precision and has a risk of jamming; the second lifting scheme reduces the guiding cost and the risk of jamming, but because the link mechanism is a labor-consuming mechanism, the required driving force is large, and the reduction of energy consumption is not facilitated.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a lifting mechanism to reduce the required drive power of lifting mechanism, simultaneously, reduce to processing and assembly required precision, reduce cost.
Another object of the present invention is to provide a robot, so as to reduce the energy consumption of the robot and reduce the cost of the robot.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a lifting mechanism comprising:
a mounting seat;
the lifting seats are oppositely arranged above the mounting seat at intervals;
the scissor fork assembly is positioned between the mounting seat and the lifting seat and comprises a first connecting rod and a second connecting rod which are hinged, the upper end of the first connecting rod is hinged with the lifting seat, the lower end of the first connecting rod is in sliding or rolling fit with the mounting seat, the lower end of the second connecting rod is hinged with the mounting seat, and the upper end of the second connecting rod is in rolling or sliding fit with the lifting seat;
the lifting driving assembly comprises an eccentric motor and a crank, wherein the eccentric motor is arranged on the mounting seat, an eccentric output shaft of the eccentric motor is rotatably connected with a first end of the crank, and a second end of the crank is hinged to the lifting seat.
As a preferred technical scheme of the lifting mechanism, a first shaft sleeve is arranged in the middle of the first connecting rod, a second shaft sleeve is arranged in the middle of the second connecting rod, and the first connecting rod and the second connecting rod are hinged through a connecting rod rotating shaft arranged in the first shaft sleeve and the second shaft sleeve in a penetrating manner.
As a preferred technical scheme of lifting mechanism, the lower extreme of first connecting rod and/or the upper end of second connecting rod has the installation board portion that relative and interval set up, two rotate between the installation board portion and be connected with the installation axle, the epaxial cover of installation is equipped with the rolling piece, the rolling piece is located two between the installation board portion, the rolling piece with correspond the mount pad or the cooperation of lifting seat roll.
As a preferred technical scheme of lifting mechanism, the upper end of first connecting rod and/or the lower extreme of second connecting rod has two installation plate portions that relative and interval set up, two rotate between the installation plate portion and be connected with the installation axle, the epaxial cover of installation is equipped with the fixing base, the one end of fixing base is located two between the installation plate portion, the other end of fixing base with correspond the mount pad or the seat of lifting is connected.
As a preferred technical scheme of the lifting mechanism, an anti-abrasion gasket is arranged on the upper surface of the mounting seat, and the lower end of the first connecting rod is in rolling or sliding contact with the upper surface of the anti-abrasion gasket; and/or
The lower surface of the lifting seat is provided with an anti-abrasion gasket, and the upper end of the second connecting rod is in rolling or sliding contact with the lower surface of the anti-abrasion gasket.
As a preferred technical solution of the lifting mechanism, the scissor fork assembly is provided with at least one set in a mirror image manner relative to a set plane, and the hinge axes of the first connecting rod and the second connecting rod are parallel to the set plane.
As a preferred technical solution of the lifting mechanism, at least two pairs of the scissors fork assemblies are arranged at intervals along the direction of the hinge axis, and two scissors fork assemblies in each pair of the scissors fork assemblies are arranged in a mirror image manner relative to the set plane.
As a preferred technical scheme of a lifting mechanism, a connecting rod is connected between two scissor fork assemblies which are adjacently arranged in the direction of the hinge axis, and the connecting rod and the hinge axis are parallel and arranged at intervals.
As a preferred technical scheme of the lifting mechanism, the lifting seat is provided with a limiting part corresponding to the upper end of each second connecting rod, and/or the mounting seat is provided with a limiting part corresponding to the lower end of each first connecting rod, and the limiting parts are used for limiting the maximum opening angle of the first connecting rods and the second connecting rods.
As a preferable embodiment of the lifting mechanism, an axis of the eccentric output shaft is parallel to the setting plane.
As a preferable technical scheme of the lifting mechanism, when the crank is vertically arranged and the eccentric output shaft is at the lowest position, the lifting seat is at the lower limit position; when the crank is vertically arranged and the eccentric output shaft is at the highest position, the lifting seat is at the upper limit position.
As a preferred technical solution of the lifting mechanism, the lifting mechanism further includes a position detection device, the position detection device is configured to detect a position of an upper end of the second link and/or a position of a lower end of the first link, and the position detection device is electrically connected to the lifting driving assembly.
A robot comprises the lifting mechanism and the moving chassis, the moving chassis can move autonomously, and the mounting seat is connected with the upper end of the moving chassis.
As a preferred technical scheme of the robot, the upper surface of the lifting seat is horizontally arranged and used for bearing materials; or, the lifting seat is connected with a tray, the upper surface of the tray is horizontally arranged and located above the lifting seat, and the upper surface of the tray is used for bearing materials.
As a preferred technical solution of the robot, the tray is rotatably connected with the lifting seat, and the tray can rotate around a vertical axis relative to the lifting seat.
The beneficial effects of the utility model reside in that:
the lifting mechanism provided by the utility model can realize the motion guidance of the lifting seat along the vertical direction by arranging the scissors fork assembly, thereby improving the stability and reliability of the lifting motion of the lifting seat; in addition, as the scissor fork assembly does not need to realize a driving function, the limitation of the initial inclination angle on the driving is not needed to be considered in the practical application process, so that the horizontal angle of the scissor fork assembly at the initial position can be increased as much as possible, and the overall height of the lifting mechanism is reduced; meanwhile, as the scissors fork assembly does not transmit driving force, the processing precision and the mounting precision of the scissors fork assembly do not need to be excessively high, and the processing and assembling cost can be reduced; meanwhile, the lifting driving assembly with the eccentric motor and the crank can directly drive the lifting seat to lift, so that the driving force is reduced, the energy consumption required by lifting of the lifting mechanism is reduced, and the cost is further reduced.
The utility model discloses a robot adopts foretell lifting mechanism to lift the material through the setting, can improve the reliability of robot to material handling, reduces the cost and the energy consumption of robot.
Drawings
Fig. 1 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a lifting mechanism provided in an embodiment of the present invention with a lifting seat removed;
FIG. 3 is an enlarged view of a portion of FIG. 2 at I;
FIG. 4 is an enlarged view of a portion of FIG. 2 at J;
fig. 5 is a schematic structural diagram of a crank block according to an embodiment of the present invention.
The figures are labeled as follows:
1. a scissor fork assembly; 11. a first link; 111. a first bushing; 112. a first upper rod portion; 113. a first lower rod portion; 114. a mounting plate portion; 12. a second link; 121. a second shaft sleeve; 122. a second upper rod portion; 123. a second lower rod portion; 124. a mounting plate portion; 13. a rolling member; 14. installing a shaft; 15. a connecting rod rotating shaft;
2. a mounting seat; 21. mounting a bottom plate; 22. installing a side plate; 23. a limiting part; 231. avoiding holes; 24. a baffle portion; 241. threading holes;
3. a lifting seat; 31. lifting the top plate; 32. lifting the side plate; 33. a connecting plate;
4. a lift drive assembly; 41. an eccentric motor; 42. a crank; 421. a first shaft through hole; 43. a slider; 431. a board connecting portion; 432. a shaft connecting portion; 44. a rotating shaft;
5. a fixed seat; 51. a fixed plate portion; 52. a hinge seat portion;
6. a connecting rod; 7. a position detection device.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
Example one
The embodiment provides a lifting mechanism, which can be used for lifting materials, and the lifting mechanism provided by the embodiment can be applied to a mobile carrying device capable of moving autonomously, such as a robot of a warehouse logistics system, so as to carry materials; the lifting mechanism can also be applied to a fixing device which does not need to carry materials and is only used for lifting materials, such as a production line in the production and manufacturing field, and the application scene of the lifting mechanism is not specifically limited by the embodiment.
Specifically, as shown in fig. 1-3, the lifting mechanism includes a mounting base 2, a lifting base 3, a scissor assembly 1, and a lifting drive assembly 4. The lifting seat 3 is arranged above the mounting seat 2 oppositely and at intervals, and the scissor fork assembly 1 and the lifting driving assembly 4 are positioned between the mounting seat 2 and the lifting seat 3; scissors fork subassembly 1 includes middle part looks articulated first connecting rod 11 and second connecting rod 12, and the upper end of first connecting rod 11 is articulated with lifting seat 3, and the lower extreme of first connecting rod 11 rolls or sliding fit with mount pad 2, and the upper end of second connecting rod 12 rolls or sliding fit with lifting seat 3, and the lower extreme of second connecting rod 12 is articulated with lifting seat 3, and lift drive assembly 4 is used for driving 2 vertical lifts of 3 relative mounts of lifting seat, and lift drive assembly 4 includes eccentric motor 41 and crank 42, eccentric motor 41 set up in on mount pad 2, just eccentric motor 4's eccentric output shaft with crank 42's first end rotates and is connected, crank 42's second end with lifting seat 3 is articulated.
According to the lifting mechanism provided by the embodiment, the scissor fork assembly 1 is arranged, so that the movement guide of the lifting seat 3 along the vertical direction can be realized, and the stability and the reliability of the lifting movement of the lifting seat 3 are improved; in addition, as the scissor fork assembly 1 does not need to realize a driving function, the limitation of the initial inclination angle on the driving is not needed to be considered in the practical application process, so that the horizontal falling angle of the scissor fork assembly 1 at the initial position can be increased as much as possible, and the overall height of the lifting mechanism is reduced; meanwhile, as the scissors fork assembly 1 does not transmit driving force, the processing precision and the mounting precision of the scissors fork assembly do not need to be excessively high, and the processing and assembling cost can be reduced; meanwhile, the lifting driving assembly 4 with the eccentric motor 41 and the crank 42 is adopted, so that the lifting seat 3 can be directly driven to lift, the driving force is reduced, the energy consumption required by lifting of the lifting mechanism is reduced, and the cost is further reduced.
In this embodiment, the upper end of the first connecting rod 11 is located at the outer side of the upper end of the second connecting rod 12 to enhance the distance between the upper ends of the two first connecting rods 11 in the two symmetrically arranged scissors fork assemblies 1, that is, to increase the distance between the two stress points of the lifting seat 3, thereby further improving the stress stability of the lifting seat 3. In other embodiments, the upper end of the first link 11 may be located inside the upper end of the second link 12.
Preferably, the length of the first link 11 is equal to the length of the second link 12, the hinge point of the first link 11 and the second link 12 is located at the center of the lengths of the first link 11 and the second link 12, the upper end of the first link 11 is located directly above the lower end of the second link 12, and the upper end of the second link 12 is located directly above the lower end of the first link 11, so as to improve the structural compactness and the operational stability of the scissor fork assembly 1.
The first connecting rod 11 comprises a first upper rod part 112, a first shaft sleeve 111 and a first lower rod part 113 which are connected in sequence, the first upper rod part 112 and the first lower rod part 113 both extend along the radial direction of the first shaft sleeve 111, the upper end of the first upper rod part 112 is hinged with the lifting seat 3, and the lower end of the first lower rod part 113 is matched with the lifting seat 3 in a sliding or rolling manner. The second connecting rod 12 includes a second upper rod portion 122, a second bushing 121 and a second lower rod portion 123 connected in sequence, the second upper rod portion 122 and the second lower rod portion 123 extend back along the radial direction of the second bushing 121, the upper end of the second upper rod portion 122 is in rolling or sliding fit with the lifting seat 3, and the lower end of the second lower rod portion 123 is hinged to the mounting seat 2. The first shaft sleeve 111 and the second shaft sleeve 121 are arranged oppositely, the scissors fork assembly 1 further comprises a connecting rod rotating shaft 15, and the connecting rod rotating shaft 15 penetrates through a through hole of the second shaft sleeve 121 of the first shaft sleeve 111. This kind of structural style of first connecting rod 11 and second connecting rod 12 is favorable to the articulated connection of first connecting rod 11 and second connecting rod 12, and makes things convenient for the processing of first connecting rod 11 and second connecting rod 12, guarantees the structural strength of scissors fork subassembly 1.
Preferably, the through holes of the first shaft sleeve 111 and the second shaft sleeve 121 are in clearance fit with the connecting rod rotating shaft 15, so as to reduce the processing requirement of the connecting rod rotating shaft 15, and the first connecting rod 11 and the second connecting rod 12 can adopt the same structure, thereby improving the universality. In other embodiments, the connecting rod rotating shaft 15 may be in clearance fit with one of the first shaft sleeve 111 and the second shaft sleeve 121, and in interference fit with the other.
In order to improve the guiding smoothness of the scissors and fork assembly 1, the lower end of the first connecting rod 11 is in rolling fit with the mounting seat 2, and/or the upper end of the second connecting rod 12 is in rolling fit with the lifting seat 3, so that the two moving ends of the scissors and fork assembly 1 can smoothly run. More preferably, the lower end of the first connecting rod 11 and the upper end of the second connecting rod 12 are rotatably connected with rolling members 13 through a fixed shaft 14, and the rolling members 13 are in rolling fit with the corresponding mounting seat 2 or the corresponding lifting seat 3. The rolling elements 13 may be, but are not limited to, rolling bearings, rollers, etc.
Preferably, the rolling member 13 is a rolling bearing, which is easy to install and has strong versatility. In order to realize the installation of the rolling member 13 and the first connecting rod 11 and the second connecting rod 12, the lower end of the first connecting rod 11 and the upper end of the second connecting rod 12 are respectively provided with an installation plate portion 114 (124) which is arranged oppositely and at an interval, a first hinge hole is formed on the installation plate portion 114 (124), and the first hinge holes of the two installation plate portions 114 (124) are arranged oppositely. The rolling bearing is located between the two mounting plate portions 114 and 124, the fixed shaft 14 is inserted into the bearing hole in an interference manner, and two ends of the fixed shaft 14 are rotatably inserted into the first hinge hole. The rolling bearing may be, but is not limited to, a deep groove ball bearing.
In order to better realize the hinge joint of the first connecting rod 11 and the lifting seat 3, the upper end of the first connecting rod 11 and the lower end of the second connecting rod 12 are provided with two opposite and spaced mounting plate parts 124 (114). First hinge holes are formed in the mounting plate portion 124, and the first hinge holes of the two mounting plate portions 124 are arranged oppositely. The fixing shaft 14 is connected between the two mounting plate portions 124, and two ends of the fixing shaft 14 penetrate through the two first hinge holes.
The upper surface of the mounting seat 2 and the lower surface of the lifting seat 3 are both provided with a fixing seat 5, one end of the fixing seat 5 is located between the two mounting plate portions 114 and 124 and sleeved on the fixing shaft 14, and the other end of the fixing seat 5 is connected with the corresponding mounting seat 2 or lifting seat 3. Further, the fixing base 5 includes a fixing plate portion 51 and a hinge seat portion 52, the fixing plate portion 51 abuts against the inner surface of the corresponding mounting base 2 or the lower surface of the lifting base 3, and is detachably connected to the corresponding fixing base 5 or the lifting base 3 by a screw connection member such as a screw. The hinge seat portion 52 extends into between the two corresponding mounting plate portions 124, 114, a second hinge hole is formed on the hinge seat portion 52, and the mounting seat 2 is rotatably connected with the two mounting plate portions 114,124 through the fixing shaft 14 penetrating through the first hinge hole and the second hinge hole.
It can be understood that the connecting rod rotating shaft 15 and each fixing shaft 14 are provided with an axial limiting structure for preventing axial movement, and the axial limiting structure may adopt an existing structure such as a gasket, a limiting pin, etc., which is not specifically provided in this embodiment. And it is worth to say that, the connection structure of the first connecting rod 11 and the second connecting rod 12 and the rolling member 13, the mounting seat 2 and/or the lifting seat 3 is an exemplary structure, and the structure that the rolling member 13, the mounting seat 2 and/or the lifting seat 3 can be hinged to the connecting rods in the prior art is all within the protection scope of the present invention.
In order to reduce the abrasion between the mounting seat 2 and the lifting seat 3, an anti-abrasion pad is disposed on the upper surface of the mounting seat 2 and/or the lower surface of the lifting seat 3, the anti-abrasion pad at least covers the stroke of the lower end of the corresponding first connecting rod 11 or the upper end of the corresponding second connecting rod 12, and the lower end of the corresponding first connecting rod 11 or the upper end of the corresponding second connecting rod 12 is in rolling or sliding contact with the corresponding anti-abrasion pad. And in this embodiment the rolling member is in rolling contact with the wear pad. The anti-wear gasket is made of wear-resistant materials such as rubber. And preferably, the anti-abrasion gasket can be bonded on the mounting seat 2 and the lifting seat 3 to improve the replacement convenience, and can also be connected with the mounting seat 2 and the lifting seat 3 by welding to prevent the anti-abrasion gasket from falling off.
Further, in order to limit the moving stroke of the lower end of the first connecting rod 11, a limiting portion 23 is arranged at the upper end of the lifting seat 3 corresponding to each second connecting rod 12, and/or a limiting portion 23 is arranged at the lower end of the mounting seat 2 corresponding to each first connecting rod 11, and the limiting portion 23 is used for limiting the maximum opening angle of the first connecting rod 11 and the second connecting rod 12. In the present embodiment, only the mounting seat 2 is provided with the limiting portion 23, and the limiting portion 23 is a plate-shaped structure disposed perpendicular to the inner surface of the mounting seat 2, and the limiting portion 23 is located on a side of the lower end of the first link 11 away from the lower end of the second link 12.
Preferably, the scissor fork assembly 1 is symmetrically provided with at least two groups relative to a set plane, and the hinge axes of the first connecting rod 11 and the second connecting rod 12 are parallel to the set plane.
In order to further improve the lifting stability of the lifting seat 3, at least two pairs of scissors fork assemblies 1 are arranged at intervals along the axial direction of the connecting rod rotating shaft 15, and the two scissors fork assemblies 1 in each pair of scissors fork assemblies 1 are arranged in a mirror image mode relative to a set plane. Preferably, a connecting rod 6 is connected between two scissor fork assemblies 1 adjacently arranged in the direction of the hinge axis, and the connecting rod 6 is parallel to and spaced from the connecting rotating shaft 15. The setting of connecting rod 6 can guarantee along the motion uniformity of the scissors fork subassembly 1 that 15 axial intervals of connecting pivot set up to further improve the operation stationarity of lifting seat 3.
Preferably, a connecting rod 6 is connected between the upper ends of the two second links 12 and between the lower ends of the two first links 11. And it can be understood that the connecting rod 6 can be connected to other positions of the scissors fork assembly 1 as long as the connecting rod 6 is ensured to be parallel to the connecting rod rotating shaft 15 line and arranged at intervals, and the two ends of the connecting rod 6 are respectively connected with the two scissors fork assemblies 1. And more preferably, in two adjacent sets of scissors fork assemblies 1, the two first connecting rods 11 and the connecting rod 6 connected between the two first connecting rods 11 can be integrally formed or welded, and/or the two second connecting rods 11 and the connecting rod 6 connected between the two second connecting rods 12 can be integrally formed or welded.
As shown in fig. 2 and 5, the elevating drive unit 4 includes an eccentric motor 41, a crank 42, and a slider 43. The casing of eccentric motor 41 is connected with mount pad 2, and the eccentric output shaft of eccentric motor 41 rotates with the first end of crank 42 and is connected, and the second end of crank 42 is articulated with slider 43, and slider 43 and lift seat 3 detachable connection. This kind of setting of lift drive assembly 4 can simplify lift drive assembly 4's overall structure, and dwindles lift drive assembly 4's occupation of land space, avoids taking up high space, can reduce when slider 43 is located the lowest position relative mount pad 2, mount pad 2 and lift the interval between the seat 3 to improve compact structure nature.
More preferably, when the crank 42 is in the vertical state and the eccentric output shaft is at the lowest position, the slide block 43 and the lifting seat 3 are at the lower limit position; when the crank 42 is in the vertical position and the eccentric output shaft is in the uppermost position, the slide 43 and the lifting seat 3 are in the upper limit position.
Further, a first shaft through hole 421 is opened at a first end of the crank 42, and the eccentric output shaft is rotatably inserted into the shaft through hole 421. Preferably, the first shaft through hole 421 is internally provided with a limiting shaft sleeve in an interference fit manner, one end of the limiting shaft sleeve is integrally provided with an axial limiting portion, the outer diameter of the axial limiting portion is larger than that of the first shaft through hole 421, and the eccentric output shaft penetrates through the through hole of the limiting shaft sleeve and is in clearance fit with the through hole. The other end of the limiting shaft sleeve is detachably connected with a limiting gasket to prevent the limiting shaft sleeve from deviating from the first shaft penetrating hole 421. It will be appreciated that the above-described connection and spacing of the crank 42 to the eccentric output shaft is merely exemplary.
The second end of the crank 42 is provided with a second shaft through hole, the slider 43 comprises a plate connecting portion 431 and a shaft connecting portion 432, the plate connecting portion 431 is of a plate-shaped structure and is detachably connected with the lifting seat 3, the shaft connecting portion 432 is provided with a shaft connecting hole, and the shaft connecting portion 432 is rotatably connected with the crank 42 through a rotating shaft 44 which is arranged in the second shaft through hole and the shaft connecting hole in a penetrating manner. In other embodiments, the second end of the crank 42 may be provided with a rotating shaft 44 in a protruding manner, the rotating shaft 44 is disposed in the shaft connecting hole, or the slider 43 is provided with a rotating shaft in a protruding manner, and the rotating shaft is disposed in the second shaft through hole.
Further, the eccentric motor 41 is a speed reducing motor, and a rotating motor and a speed reducer which are in transmission connection are arranged in the eccentric motor 41, so as to regulate and control the output rotating speed and torque of the eccentric motor 41 and control the lifting speed of the lifting seat 3. The speed reducing eccentric motor is an existing mature product and is not described in detail herein.
More preferably, the axial direction of the eccentric output shaft is perpendicular to the set plane, so as to prevent the eccentric output shaft from applying an acting force perpendicular to the set plane to the lifting seat 3, and improve the stress stability of the lifting seat 3.
As shown in fig. 2, in order to better implement the installation of the scissors and forks assembly 1 and the lifting driving assembly 4, the mounting base 2 includes a mounting base plate 21 and a mounting side plate 22 surrounding the periphery of the mounting base plate 21, the lower end of the second connecting rod 12 is hinged to the mounting base plate 21, the lower end of the first connecting rod 11 is in rolling fit with the mounting base plate 21, and the housing of the eccentric motor 41 is connected to the mounting base plate 21. In addition, in order to realize the installation positioning and the limiting, the upper surface of the installation bottom plate 21 is convexly provided with baffle parts 24, a plurality of baffle parts 24 are connected end to form an installation space in a surrounding manner, and the lifting driving component 4 is positioned in the installation space.
As shown in fig. 1, the lifting base 3 includes a lifting top plate 31 and a lifting side plate 32 surrounding the periphery of the lifting top plate 31, the lifting top plate 31 is disposed opposite to and spaced apart from the mounting bottom plate 21, and the lifting side plate 32 is disposed flush with the mounting side plate 22 on the corresponding side to improve the appearance. The arrangement of the lifting top plate 31 and the lifting side plate 32 is beneficial to providing protection for the scissor fork assembly 1 and the lifting driving assembly 4, reducing the structure exposure and improving the appearance attractiveness.
In the present embodiment, the mounting bottom plate 21 and the lifting top plate 31 are both rectangular plate-shaped structures, four mounting side plates 21 are enclosed on four sides of the mounting bottom plate 21, and four lifting side plates 32 are enclosed on four sides of the lifting top plate 31. The lifting seat 3 and the mounting seat 2 can improve the appearance and the compactness, but it can be understood that the lifting bottom plate and/or the mounting bottom plate can also be in a round, trapezoidal or special-shaped structure.
As shown in fig. 4, in order to better control the operation of the lifting mechanism, the lifting mechanism further includes a position detecting device 7, the position detecting device 7 is used for detecting the position of the upper end of the second connecting rod 12 and/or the position of the lower end of the first connecting rod 11, and the position detecting device 7 is electrically connected to the lifting driving assembly 4.
Preferably, the position detecting device 7 is fixed to the mount 2 and is used to detect the position of the lower end of one of the second links 12. The position detection device 7 is located on one side of the limiting portion 23 away from the second connecting rod 12, the position detection device 7 is provided with an avoiding hole 231 for avoiding a detection end of the position detection device 7, and the detection end of the position detection device 7 extends into the avoiding hole 231. The position detection device 7 may be, but is not limited to, a micro switch, a photoelectric switch, or the like.
In order to better realize the connection between the position detection device 7 and the eccentric motor 41, a threading hole 241 is formed on a side baffle part close to the position detection device 7, and an external lead of the position detection device 7 passes through the threading hole 241 and is connected with the eccentric motor 41.
Example two
The embodiment provides a robot, which comprises a mobile chassis and a lifting mechanism in the first embodiment, wherein the mobile chassis has an autonomous moving function, the lifting mechanism is connected to the top of the mobile chassis, and a mounting seat 2 is detachably connected with a body of the mobile chassis.
The movable chassis can adopt any existing movable chassis structure, and the embodiment does not specifically limit the structure.
In this embodiment, the upper surface of the lifting seat 3 is horizontally disposed and can be directly used as a bearing surface for bearing materials, that is, the materials are directly borne on the lifting seat 3.
In other embodiments, the lifting mechanism may further include a tray, the tray is connected to the lifting base 3, and the tray at least has a tray top plate located above the lifting base 3, and the tray top plate is horizontally disposed and used for carrying the material. The tray can also be provided with a tray side plate for coating the upper end of the lifting mechanism, the upper side of the tray side plate is connected with the tray top plate, the tray side plate extends downwards and vertically, and when the lifting seat 3 is at the lower limit position, the lower side of the tray side plate is abutted against the upper end face of the movable chassis or has a small gap, so that the appearance attractiveness of the robot is improved.
In other embodiments, the tray may also be connected to the lifting base 3 through a rotating assembly to achieve rotation of the tray in the vertical direction, thereby achieving rotation of the tray relative to the moving chassis. The rotating assembly for effecting rotation between the tray and the mobile chassis may be arranged with reference to the prior art and will not be described in detail here.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (15)
1. A lifting mechanism, comprising:
a mounting seat (2);
the lifting seat (3) is arranged above the mounting seat (2) at intervals;
the scissors fork assembly (1) is positioned between the mounting seat (2) and the lifting seat (3), the scissors fork assembly (1) comprises a first connecting rod (11) and a second connecting rod (12) which are hinged, the upper end of the first connecting rod (11) is hinged with the lifting seat (3), the lower end of the first connecting rod (11) is in sliding or rolling fit with the mounting seat (2), the lower end of the second connecting rod (12) is hinged with the mounting seat (2), and the upper end of the second connecting rod (12) is in rolling or sliding fit with the lifting seat (3);
lifting drive subassembly (4), including eccentric motor (41) and crank (42), eccentric motor (41) set up in on mount pad (2), just the eccentric output shaft of eccentric motor (41) with the first end of crank (42) is rotated and is connected, the second end of crank (42) with it is articulated to lift seat (3).
2. The lifting mechanism according to claim 1, characterized in that the first link (11) has a first bushing (111) in the middle and the second link (12) has a second bushing (121) in the middle, and the first link (11) and the second link (12) are hinged by a link shaft (15) inserted into the first bushing (111) and the second bushing (121).
3. Lifting mechanism according to claim 1, characterized in that the lower end of the first link (11) is in rolling engagement with the mounting seat (2) and/or the upper end of the second link (12) is in rolling engagement with the lifting seat (3).
4. The lifting mechanism according to claim 3, characterized in that the lower end of the first link (11) and/or the upper end of the second link (12) have opposite and spaced mounting plate portions (114,124), a mounting shaft (14) is rotatably connected between the two mounting plate portions (114,124), a rolling member (13) is sleeved on the mounting shaft (14), the rolling member (13) is located between the two mounting plate portions (114,124), and the rolling member (13) is in rolling fit with the corresponding mounting seat (2) or the lifting seat (3).
5. The lifting mechanism according to claim 1, wherein the upper end of the first link (11) and/or the lower end of the second link (12) have two opposite and spaced mounting plate portions (114,124), a mounting shaft (14) is rotatably connected between the two mounting plate portions (114,124), a fixing seat (5) is sleeved on the mounting shaft (14), one end of the fixing seat (5) is located between the two mounting plate portions (114,124), and the other end of the fixing seat (5) is connected with the corresponding mounting seat (2) or the lifting seat (3).
6. The lifting mechanism according to claim 1, characterized in that the upper surface of the mounting seat (2) is provided with an anti-wear pad, the lower end of the first link (11) being in rolling or sliding contact with the upper surface of the anti-wear pad; and/or
The lower surface of the lifting seat (3) is provided with an anti-abrasion gasket, and the upper end of the second connecting rod (12) is in rolling or sliding contact with the lower surface of the anti-abrasion gasket.
7. A lifting mechanism according to any of claims 1-6, characterized in that the scissor assembly (1) is provided with at least one set of mirror images relative to a set plane, the hinge axes of the first (11) and second (12) links being parallel to the set plane.
8. A lifting mechanism according to claim 7, characterized in that the scissor assemblies (1) are arranged at least two pairs spaced apart in the direction of the hinge axis, the two scissor assemblies (1) of each pair of scissor assemblies (1) being arranged in mirror image with respect to the setting plane.
9. A lifting mechanism according to claim 8, wherein a connecting rod (6) is connected between two scissor assemblies (1) adjacently arranged in the direction of the hinge axis, the connecting rod (6) being arranged parallel to and spaced apart from the hinge axis.
10. The lifting mechanism according to any one of claims 1 to 6, characterized in that the lifting seat (3) is provided with a limiting portion (23) corresponding to the upper end of each second connecting rod (12), and/or the mounting seat (2) is provided with a limiting portion (23) corresponding to the lower end of each first connecting rod (11), and the limiting portion (23) is used for limiting the maximum opening angle of the first connecting rod (11) and the second connecting rod (12).
11. The lift mechanism of claim 7, wherein an axis of the eccentric output shaft is parallel to the set plane.
12. The lifting mechanism according to any of claims 1-6, further comprising a position detection device (7), wherein the position detection device (7) is configured to detect a position of an upper end of the second link (12) and/or a position of a lower end of the first link (11), and wherein the position detection device (7) is electrically connected to the lift driving assembly (4).
13. A robot, characterized in that it comprises a lifting mechanism according to any of claims 1-12 and a mobile chassis, which is autonomously movable, the mounting (2) being connected to the upper end of the mobile chassis.
14. Robot according to claim 13, characterized in that the upper surface of the lifting seat (3) is arranged horizontally and is used for carrying material; or, a tray is connected to the lifting seat (3), the upper surface of the tray is horizontally arranged and located above the lifting seat (3), and the upper surface of the tray is used for bearing materials.
15. Robot according to claim 14, characterized in that the pallet is in rotational connection with the lifting seat (3) and that the pallet can be rotated about a vertical axis in relation to the lifting seat (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120370249.7U CN214611320U (en) | 2021-02-10 | 2021-02-10 | Lifting mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120370249.7U CN214611320U (en) | 2021-02-10 | 2021-02-10 | Lifting mechanism and robot |
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| Publication Number | Publication Date |
|---|---|
| CN214611320U true CN214611320U (en) | 2021-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120370249.7U Active CN214611320U (en) | 2021-02-10 | 2021-02-10 | Lifting mechanism and robot |
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| Country | Link |
|---|---|
| CN (1) | CN214611320U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114191593A (en) * | 2021-12-15 | 2022-03-18 | 北京云迹科技有限公司 | Split type disinfection robot |
-
2021
- 2021-02-10 CN CN202120370249.7U patent/CN214611320U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114191593A (en) * | 2021-12-15 | 2022-03-18 | 北京云迹科技有限公司 | Split type disinfection robot |
| CN114191593B (en) * | 2021-12-15 | 2023-05-30 | 北京云迹科技股份有限公司 | Split type disinfection robot |
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