CN216997520U - Lifting device and transfer robot - Google Patents

Abstract

The application relates to the technical field of mechanical transportation, in particular to a lifting device and a transfer robot. The lifting device comprises a lifting platform, an inclined pressure plate and a driving part which is abutted to the inclined surface of the inclined pressure plate, wherein the inclined surface of the inclined pressure plate is positioned between the top and the bottom of the inclined pressure plate. The transfer robot includes the lifting device and a vehicle body assembly, the lifting device being located on top of the vehicle body assembly. The application provides a lifting device and transfer robot have solved current climbing mechanism and transfer robot's volume, weight great, the technical problem that maintenance cost is with high costs.

Description

Lifting device and transfer robot

Technical Field

The application relates to the technical field of mechanical transportation, in particular to a lifting device and a transfer robot.

Background

Automatic handling equipment such as AGVs (automatic Guided vehicles) and AMR (Autonomous Mobile Robots) are gaining favor in more and more fields such as factories and electric businesses, and are widely popularized and applied.

However, most of the existing transfer robots are large in size and weight, which requires to increase the height and strength of the shelves, resulting in an increase in shelf cost of the whole warehouse, a decrease in effective space utilization, and a decrease in storage density; moreover, the carrying robot has large volume and dead weight, so that the working efficiency of the carrying robot is reduced, and the carrying robot is easy to collide in the process of carrying goods and driving, so that the fault of the carrying robot is easy to cause, the carrying efficiency is influenced, and the management and maintenance cost is increased. Furthermore, the climbing mechanism of the storage transfer robot commonly used at present adopts a hydraulic structure, but the hydraulic climbing cylinders are more in quantity and heavier, and the problem that oil leaks to pollute goods exists.

SUMMERY OF THE UTILITY MODEL

The application aims to provide a lifting device and a carrying robot to solve the technical problems that an existing jacking mechanism and an existing carrying robot are large in size and weight and high in maintenance cost.

In a first aspect, the present application provides a lifting device, comprising:

the lifting platform is used for bearing materials; and

the top of the inclined pressing plate is abutted to the bottom surface of the lifting platform, and the length of the top of the inclined pressing plate is greater than that of the bottom of the inclined pressing plate; and

the driving part abuts against the inclined plane of the inclined pressure plate to provide a lifting driving force, and the inclined plane is located between the top part and the bottom part.

Further, the driving part comprises a first driving part and a second driving part, the inclined pressing plate is provided with a first inclined surface and a second inclined surface which are oppositely arranged,

the first driving part and the second driving part are respectively abutted against the first inclined surface and the second inclined surface, and the first driving part and the second driving part jointly push the inclined pressing plate to ascend and descend.

Further, the first driving part comprises a first pushing component and a first transmission component which are in transmission connection,

the second driving part comprises a second pushing component and a second transmission component which are in transmission connection,

The first pushing component is abutted against the first inclined surface, the second pushing component is pushed to be abutted against the second inclined surface,

the first transmission component and the second transmission component are synchronously and rotationally connected.

Furthermore, the inclined pressing plate is of a structure symmetrical relative to the central axis, and the inclined included angle of the first inclined plane relative to the horizontal plane is the same as the inclined included angle of the second inclined plane relative to the horizontal plane.

Further, the top of the inclined pressing plate is provided with a downward concave notch.

Further, the first transmission component is a first rotating lead screw,

the second transmission component is a second rotary lead screw,

the first rotating lead screw and the second rotating lead screw are synchronously and rotationally connected through a coupler; the transmission directions of the first rotating lead screw and the second rotating lead screw are opposite, and the transmission directions of the first rotating lead screw and the second rotating lead screw are the same as the pushing directions of the first pushing component and the second pushing component.

Furthermore, the first connecting port of the first pushing component is in transmission connection with the first rotating lead screw,

the second connecting port of the second pushing component is in transmission connection with the second rotary lead screw,

and the ring opening of the first connecting opening and/or the second connecting opening is sleeved on the transmission shaft of the first rotating lead screw and/or the second rotating lead screw.

Furthermore, the first pushing component is in sliding contact or rolling contact with the first inclined surface; and/or

The second pushing member is in sliding or rolling contact with the second inclined surface.

Furthermore, the first pushing component comprises a first connecting piece and a first rotating bearing, the first connecting piece comprises the first connecting port and a first fixing frame which fixedly supports the first rotating bearing, and the outer ring of the first rotating bearing is in rolling contact with the first inclined plane;

the second pushing component comprises a second connecting piece and a second rotating bearing, the second connecting piece comprises a second connecting port and a second fixing frame which fixedly supports the second rotating bearing, and the outer ring of the second rotating bearing is in rolling contact with the second inclined plane.

Further, the first rotary bearing and/or the second rotary bearing are needle bearings.

Furthermore, the lifting device also comprises a driving motor, the driving motor is in transmission connection with the first rotating lead screw or the second rotating lead screw through a transmission pair,

the transmission pair comprises a first transmission connecting piece and a second transmission connecting piece which are in transmission connection, the first transmission connecting piece is in transmission connection with an output shaft of the driving motor, and the second transmission connecting piece is in transmission connection with a transmission shaft of the first rotating lead screw or the second rotating lead screw.

Furthermore, the transmission pair is any one of a gear pair, a chain wheel pair and a belt wheel pair; and/or

And an output shaft of the driving motor is sequentially in transmission connection with a speed reducer and the first transmission connecting piece, and the speed reducer increases the output torque of the driving motor.

Furthermore, the bottom surface of the lifting platform is connected with a guide shaft, and the guide shaft is connected with a linear bearing.

In a second aspect, the present application provides a transfer robot, including the lifting device described in any one of the foregoing, further including a vehicle body assembly, where the lifting device is mounted on the top of the vehicle body assembly, and the bottom of the vehicle body assembly is mounted with a driving wheel.

Furthermore, a laser obstacle avoidance sensor is arranged on the front side wall of the vehicle body assembly close to the bottom;

and a navigation sensor is further installed on the front side wall of the vehicle body assembly and is located below the laser obstacle avoidance sensor.

Furthermore, at least one side edge of the vehicle body component is provided with an embedded three-color lamp; and/or

A safety contact edge is arranged at the circumferential edge of the bottom of the vehicle body assembly; and/or

At least two opposite side walls of the four side walls of the vehicle body component are provided with hoisting points, and the hoisting points are close to the bottoms of the side walls.

Compared with the prior art, the lifting device and the transfer robot have the advantages that the lifting device can lift the lifting platform at the top of the inclined pressing plate by applying the driving force in the lifting direction to the inclined pressing plate, and the purpose of lifting goods is further achieved. The structure is relatively simple and direct, the reliability is high, the size and the weight of the lifting device and even the whole transfer robot are greatly reduced, the maintenance cost is reduced, the whole space of the transfer robot is saved, and the manufacturing cost is saved.

Drawings

In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings used in the detailed description or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a lifting device according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a part of a lifting device provided in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of the lifting apparatus according to the embodiment of the present application after the lifting platform is detached;

fig. 5 is a schematic structural diagram of a first connecting element according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a pressure plate according to an embodiment of the present disclosure.

Reference numerals are as follows:

100-a lifting device;

10-inclined pressing plate;

11-a first bevel;

12-a second bevel;

13-top;

131-a concave-down notch;

14-bottom;

20-a first urging member;

21-a first connector;

211 — a first connection port;

212-a first mount;

22-a first rotational bearing;

30-a second urging member;

31-a second connector;

311-a second connection port;

312-a second mount;

32-a second rotational bearing;

41-a first rotating screw;

42-a second rotating lead screw;

43-a coupling;

50-a drive motor;

51-a first transfer gear;

52-a second drive gear;

60-a reducer;

70-lifting the platform;

71-rotating the tray;

711-revolute pair;

712-an upper top plate;

72-an image sensor;

73-dustproof cover plate;

74-a locating pin;

81-a guide shaft;

82-linear bearings;

200-driving wheels;

300-laser obstacle avoidance sensor;

400-a navigation sensor;

500-control panel;

610-safe touch edge;

620-three color lamps;

630-hoisting point.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the product of the application is conventionally placed in use, and are used only for convenience of describing the present application and simplifying the description, but 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 application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "suspended" and the like do not imply that the components are absolutely horizontal or suspended, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it should also be noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and can include, for example, fixed connections, detachable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments and features of the embodiments described below can be combined with each other without conflict.

As shown in fig. 1 to 4, an embodiment of the present application provides a lifting device 100 and a transfer robot including the lifting device 100. The lifting device 100 may include a lifting platform 70 and a platen 10, and a driving portion abutting on a bevel position of the platen 10 for providing a driving force for lifting. The lifting platform 70 is used for carrying materials, the top 13 of the inclined pressing plate 10 abuts against the bottom surface of the lifting platform 70 to drive the lifting platform 70 to ascend and descend, and the length of the top 13 of the inclined pressing plate 10 is greater than that of the bottom 14 thereof. Optionally, a plurality of guide shafts 81 may be further connected to the bottom surface of the lifting platform 70, and each guide shaft 81 is connected to a linear bearing 82 to form a guide system of the lifting device 100, so as to effectively ensure that the lifting action of the lifting device 100 is smoothly performed. For example, the four corners of the chassis can be respectively connected with guide members consisting of guide shafts and linear bearings.

The aforementioned transfer robot may further include a vehicle body assembly on the top of which the lifting device 100 is mounted. The two sides of the bottom of the vehicle body component can be also provided with driving wheels 200; the front side wall of the vehicle body component close to the bottom can be provided with a laser obstacle avoidance sensor 300 so as to reduce the probability of collision of the whole vehicle; the side wall of the vehicle body component can be further provided with a navigation sensor 400, the navigation sensor 400 can be positioned below the laser obstacle avoidance sensor 300, so that the laser obstacle avoidance sensor and the laser obstacle avoidance sensor can be matched with each other, a path can be planned better, and an obstacle can be avoided better at the same time, and the navigation sensor 400 can be specifically an SLAM navigation sensor; at least one of the four sides of the vehicle body component is provided with an embedded tricolor lamp 620, the tricolor lamp 620 is used for prompting information, alarm information and the like, and the embedded arrangement can effectively protect the lamp body from being collided and damaged while ensuring that the prompt is seen; the circumferential edge of the bottom of the vehicle body component can be further provided with a safety contact edge 610, and the safety contact edge 610 can be made of rubber and other materials and is used for reducing collision damage of the vehicle body component; hoisting points 630 can be further arranged at positions, close to the bottom, of four side walls of the vehicle body assembly, at least two opposite side walls are provided with the hoisting points 630, the hoisting points 630 can be used for connecting and hoisting the vehicle body assembly, so that the maintenance, the lifting and the like are facilitated, each hoisting point 630 can be arranged in a balanced manner, and the arrangement close to the bottom can also enhance the stability and the lifting force when the whole vehicle is lifted; the surface of this automobile body subassembly still can be provided with control panel 500, and this control panel 500 can be provided with switch, control button, display screen etc. make things convenient for information control and interaction.

Compared with the prior art, the lifting device 100 and the transfer robot provided by the embodiment of the application realize the lifting of the lifting platform 70 located at the top 13 of the inclined platen 10 by applying the driving force in the lifting direction to the inclined platen 10 by the lifting device 100, thereby realizing the lifting of the goods. The structure is simple and direct relatively, the reliability is strong, greatly reduced lifting devices and even the volume and the weight of the whole transfer robot, the working efficiency is improved, the collision in the running process is reduced more lightly, the maintenance cost is reduced, the whole space of the transfer robot is saved, and the manufacturing cost is saved simultaneously.

Further, the aforementioned driving portion may include a first driving portion and a second driving portion, and the inclined pressing plate 10 may have a first inclined surface 11 and a second inclined surface 12 that are oppositely disposed, that is, the first inclined surface 11 and the second inclined surface 12 are respectively located at two opposite sides of the inclined pressing plate 10. The first driving part and the second driving part can be respectively abutted to the first inclined surface 11 and the second inclined surface 12 of the cover, the first driving part and the second driving part jointly push the inclined pressing plate 10 to ascend and descend so as to realize lifting operation, and the first driving part and the second driving part jointly apply thrust to the inclined pressing plate, the horizontal force directions of the first driving part and the second driving part are opposite, resultant force is greatly weakened or even counteracted, acting force acting on parts such as the guide shaft 81, the linear bearing 82 and the like is greatly reduced or even eliminated, deformation, loss and the like caused by the parts are greatly weakened or even avoided, further the condition that the whole mechanism of the transfer robot runs unstably is effectively reduced or even avoided, the service life of the parts is prolonged, and the working efficiency is also improved.

Optionally, as shown in fig. 6, the inclined pressing plate 10 may be a structure symmetrical with respect to the central axis a, an inclined angle of the first inclined surface 11 with respect to the horizontal plane may be the same as an inclined angle of the second inclined surface 12 with respect to the horizontal plane, and the symmetrical structure is favorable for pushing the two inclined surfaces to ascend and descend together, so as to improve the balance and make the lifting operation more stable. Optionally, the top 13 of the inclined pressing plate 10 may have a concave recess 131 recessed downward to reduce friction between the top 13 and the bottom surface of the lifting platform 70, save material, reduce the weight of the inclined pressing plate 10, and so on.

As shown in fig. 4, further, the first driving portion includes a first pushing member 20 and a first transmission member that are in transmission connection, the second driving portion includes a second pushing member 30 and a second transmission member that are in transmission connection, the first pushing member 20 abuts against the first inclined surface 11 of the inclined pressing plate 10, the second pushing member 30 abuts against the second inclined surface 12 of the inclined pressing plate 10, and the first transmission member and the second transmission member are in synchronous rotation connection, so that the force and the pushing distance applied to the inclined surfaces on two opposite sides of the inclined pressing plate 10 can be further effectively controlled to be the same, and the horizontal force directions of the two are opposite, so that the horizontal force of the two is the same or the horizontal force of the two is the same, and the resultant force of the two is smaller and the resultant force is offset. Therefore, acting force acting on the guide shaft 81, the linear bearing 82 and other parts can be eliminated, deformation and loss caused by the acting force are avoided, the service life of the parts is prolonged, and the working efficiency is improved. The pushing force and the pushing distance applied to both sides of the inclined pressing plate 10 are the same, and if the inclined pressing plate 10 of the preferred embodiment is of a structure symmetrical to the central axis a, the inclined included angles of the first inclined surface 11 and the second inclined surface 12 relative to the horizontal plane are the same, and the structure of the inclined pressing plate 10 is symmetrical, the lifting action of the inclined pressing plate 10 driving the lifting platform 70 to ascend and descend is more balanced and stable, so that the whole mechanism of the transfer robot runs more unstably.

On the basis of the foregoing embodiment, a specific embodiment is that the foregoing first transmission component may be a first rotating lead screw 41, and the second transmission component may be a second rotating lead screw 42, and the first rotating lead screw 41 and the second rotating lead screw 42 may be synchronously and rotationally coupled through a coupler 43. The shaft coupling is a mechanical device used for coupling two shafts in different mechanisms to enable the shafts to rotate together so as to transmit torque. The rotary lead screw is a transmission mechanism for converting rotary motion into linear motion, the first rotary lead screw and the second rotary lead screw rotate together, but the rotation directions of the first rotary lead screw and the second rotary lead screw are different, the transmission directions of the first rotary lead screw and the second rotary lead screw are opposite, and the transmission directions of the first rotary lead screw and the second rotary lead screw are the same as the pushing directions of the first pushing component and the second pushing component. The rotating lead screw and coupling linkage mechanism is adopted, the functional requirement of coaxial linear pushing can be simply, directly and effectively realized, and the mechanism is simple, reliable, easy to operate and easy to implement. Optionally, the first rotating screw 41 and the second rotating screw 42 may be disposed on the same straight line, and the first pushing member and the second pushing member may also be disposed on the same straight line, and the two straight lines are aligned in two parallel rows, so that the machine members are neatly disposed, the production setting is convenient, and the mechanism requirements are met.

An alternative embodiment is that the first pushing member 20 may be in sliding or rolling contact with the first inclined surface 11, and similarly, the second pushing member 30 may be in sliding or rolling contact with the second inclined surface 12. So as to reduce the friction of the contact surface, is not easy to generate dust and prolongs the service life of the part. With rolling abutment, the friction coefficient is smaller and less dust is generated than with sliding abutment.

As a specific example, as shown in fig. 4 and 5, the first pushing member 20 may include a first connector 21 and a first rotation bearing 22, and the second pushing member 30 may include a second connector 31 and a second rotation bearing 32. The first connecting member 21 may include a first connecting port 211 and a first fixing frame 212 connected to each other, the first rotating bearing 22 is fixedly supported and connected to two oppositely disposed fixing hole locations of the first fixing frame 212, and an outer ring of the first rotating bearing 22 is in rolling contact with the first inclined plane 11. Similarly, the second connecting member 31 may include a second connecting port 311 and a second fixing frame 312 connected to each other, the second rotary bearing 32 is fixedly supported and connected to two oppositely disposed fixing holes of the second fixing frame 312, and an outer ring of the second rotary bearing 32 is in rolling contact with the second inclined surface 12. The rolling bearing is adopted to realize rolling butt joint, so that the mechanical rotating body can be effectively fixedly supported, the friction coefficient of the mechanical rotating body is effectively reduced, and the rotation precision of the mechanical rotating body can be ensured. Optionally, the first rotary bearing and/or the second rotary bearing are needle bearings, and in the component with limited radial installation space, the needle bearings are preferably arranged due to the characteristics of compact radial structure and relatively small outer diameter.

Further, the first connection port 211 is in transmission connection with the first rotating lead screw 41, and the second connection port 311 is in transmission connection with the second rotating lead screw 42, specifically, the ring openings of the first connection port 211 and the second connection port 311 can be respectively sleeved on the transmission shafts of the first rotating lead screw 41 and the second rotating lead screw 42, and the inner walls of the first connection port 211 and the second connection port 311 can be provided with threads, which can be in threaded connection. The matching operability is stronger. The first connector 211 and the second connector 311 can be both provided with a notch, and the diameter of the ring opening is larger than the opening size of the notch, so that the ring opening can be conveniently installed and removed by the notch in addition to being sleeved in the installation.

In another alternative embodiment, in order to further ensure the synchronous movement of the pushing component and the transmission component, the same power source can be arranged to provide power for the pushing component and the transmission component. The lifting device 100 may include a driving motor 50, the driving motor 50 may be drivingly coupled to the first rotating lead screw 41 or the second rotating lead screw 42, which rotate synchronously, through a transmission pair, the transmission pair includes a first transmission connector and a second transmission connector, which are drivingly coupled to the output shaft of the driving motor 50, and the second transmission connector is drivingly coupled to the transmission shaft of the first rotating lead screw 41 or the second rotating lead screw 42. Specifically, the transmission pair may be any one of a gear pair, a sprocket pair, and a pulley pair. As shown in fig. 4, the gear pair may comprise a first transmission gear 51 and a second transmission gear 52 which are in meshing engagement, i.e. the first transmission coupling and the second transmission coupling may be realized as a first transmission gear 51 and a second transmission gear 52, respectively. The first transmission gear 51 is in transmission connection with the output shaft of the driving motor 50, and the second transmission gear 52 is in transmission connection with the transmission shaft of the first rotating lead screw 41 or the second rotating lead screw 42. The power is provided by the same power source, and synchronous pushing of the first driving part and the second driving part is further guaranteed. Further, in order to adjust or increase the output torque of the driving motor 50, a speed reducer 60 may be coupled, and in particular, the output shaft of the driving motor 50 may be in transmission coupling with the speed reducer 60 and the first transmission gear 51.

The top of the lifting platform 70 may further be provided with a rotary tray 71, which drives the upper top plate 712 to rotate through a rotary pair 711, so that the rotary tray not only has a lifting function, but also has a rotating function, thereby further facilitating material transfer. An image sensor 72 for reading information on the bottom of the rotating tray 71 may be further installed in the space surrounded by the rotating pair 711, and a dust cover 73 for protecting the image sensor 72 from dust deposition may be further installed above the image sensor 72. The rotary tray 71 is further provided with a positioning pin 74 for positioning the rotary tray 71 on the lifting platform 70.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art 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 the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (16)

1. A lifting device, comprising:

The lifting platform is used for bearing materials; and

the top of the inclined pressing plate is abutted to the bottom surface of the lifting platform, and the length of the top of the inclined pressing plate is greater than that of the bottom of the inclined pressing plate; and

the driving part is abutted to the inclined plane of the inclined pressing plate to provide lifting driving force, and the inclined plane is located between the top and the bottom.

2. A lifting device according to claim 1,

the driving part comprises a first driving part and a second driving part, the inclined pressing plate is provided with a first inclined surface and a second inclined surface which are oppositely arranged,

the first driving part and the second driving part are respectively abutted against the first inclined surface and the second inclined surface, and the first driving part and the second driving part jointly push the inclined pressing plate to ascend and descend.

3. The lifting device of claim 2,

the first driving part comprises a first pushing component and a first transmission component which are in transmission connection,

the second driving part comprises a second pushing component and a second transmission component which are in transmission connection,

the first pushing component is abutted against the first inclined surface, the second pushing component is pushed to be abutted against the second inclined surface,

the first transmission component and the second transmission component are connected in a synchronous rotating mode.

4. A lifting device according to claim 3,

the inclined pressing plate is of a structure symmetrical relative to the central axis, and the inclined included angle of the first inclined plane relative to the horizontal plane is the same as the inclined included angle of the second inclined plane relative to the horizontal plane.

5. A lifting device according to claim 3,

the top of the inclined pressing plate is provided with a downward concave notch.

6. A lifting device according to claim 3 or 4,

the first transmission component is a first rotary lead screw,

the second transmission component is a second rotary lead screw,

the first rotating lead screw and the second rotating lead screw are synchronously and rotationally connected through a coupler; the transmission directions of the first rotating lead screw and the second rotating lead screw are opposite, and the transmission directions of the first rotating lead screw and the second rotating lead screw are the same as the pushing directions of the first pushing component and the second pushing component.

7. A lifting device according to claim 6,

the first connecting port of the first pushing component is in transmission connection with the first rotary lead screw,

the second connecting port of the second pushing component is in transmission connection with the second rotary lead screw,

and the ring opening of the first connecting opening and/or the second connecting opening is sleeved on the transmission shaft of the first rotating lead screw and/or the second rotating lead screw.

8. A lifting device according to claim 7,

the first pushing component is in sliding abutting joint or rolling abutting joint with the first inclined plane; and/or

The second pushing member is in sliding or rolling contact with the second inclined surface.

9. A lifting device according to claim 8,

the first pushing component comprises a first connecting piece and a first rotating bearing, the first connecting piece comprises a first connecting port and a first fixing frame, the first connecting port and the first fixing frame are connected with each other and fixedly support the first rotating bearing, and an outer ring of the first rotating bearing is in rolling contact with the first inclined plane;

the second pushing component comprises a second connecting piece and a second rotating bearing, the second connecting piece comprises a second connecting port and a second fixing frame which fixedly supports the second rotating bearing, and the outer ring of the second rotating bearing is in rolling contact with the second inclined plane.

10. The lifting device as recited in claim 9,

the first and/or second rotary bearings are needle bearings.

11. The lifting device of claim 6, further comprising a drive motor drivingly coupled to the first rotary lead screw or the second rotary lead screw via a drive pair,

The transmission pair comprises a first transmission connecting piece and a second transmission connecting piece which are in transmission connection, the first transmission connecting piece is in transmission connection with an output shaft of the driving motor, and the second transmission connecting piece is in transmission connection with a transmission shaft of the first rotating lead screw or the second rotating lead screw.

12. The lifting device as recited in claim 11,

the transmission pair is any one of a gear pair, a chain wheel pair and a belt wheel pair; and/or

And an output shaft of the driving motor is sequentially in transmission connection with a speed reducer and the first transmission connecting piece, and the speed reducer increases the output torque of the driving motor.

13. The lifting device of claim 1,

the bottom surface of the lifting platform is connected with a guide shaft, and the guide shaft is connected with a linear bearing.

14. A transfer robot comprising the lifting device of any one of claims 1-13, further comprising a body assembly, the lifting device being mounted on top of the body assembly, the bottom of the body assembly being mounted with drive wheels.

15. The transfer robot of claim 14,

a laser obstacle avoidance sensor is arranged on the front side wall of the vehicle body assembly close to the bottom;

And a navigation sensor is further installed on the front side wall of the vehicle body assembly and is located below the laser obstacle avoidance sensor.

16. The transfer robot of claim 14,

at least one side edge of the vehicle body component is provided with an embedded three-color lamp; and/or

A safety contact edge is arranged at the circumferential edge of the bottom of the vehicle body component; and/or

At least two opposite side walls of the four side walls of the vehicle body component are provided with hoisting points, and the hoisting points are close to the bottoms of the side walls.

Images