CN217375880U - Lifting device and transfer robot - Google Patents

Abstract

The utility model provides a lifting device and transfer robot relates to intelligent storage technical field for solve transfer robot and take place the problem of slope, lifting device is used for being connected with transfer robot's handling device, including support frame, the first spout that has the pallet, slide the slip subassembly of establishing in first spout, first subassembly, the second spout and the subassembly of preventing inclining of second. According to the anti-tilting carrying robot, the first anti-tilting component and/or the second anti-tilting component are arranged on the supporting frame, when the carrying device is stressed unevenly, two ends of the first anti-tilting component are in contact with the first guide surface and the second guide surface respectively, and/or two ends of the second anti-tilting component are in contact with the third guide surface and the fourth guide surface respectively, and the carrying device is prevented from tilting by utilizing the interaction force of the first anti-tilting component and the first guide surface and the second guide surface, and/or the interaction force of the second anti-tilting component and the third guide surface and the fourth guide surface, so that the safety of the carrying robot is improved.

Description

Lifting device and transfer robot

Technical Field

The embodiment of the disclosure relates to the technical field of intelligent warehousing, in particular to a lifting device and a transfer robot.

Background

In the intelligent warehousing system, a transfer robot is one of the devices for realizing logistics intellectualization, and heavy physical labor of human beings can be reduced through the transfer robot. The transfer robot generally includes a movable chassis, a lifting device mounted on the movable chassis, and a transfer device slidably disposed on the lifting device and capable of adjusting the position of the lifting device under the action of the lifting device.

In the related art, the lifting device generally includes a supporting column, a sliding block, and a driving mechanism, wherein the sliding block is slidably mounted on the supporting column, and the sliding block is further connected to the driving mechanism and the carrying device, and the sliding block is driven by the driving mechanism to lift along the supporting column, so as to drive the carrying device to lift along the supporting column.

However, the transportation device is prone to tilt during the transportation of the goods, and the transportation robot is further tilted, which reduces the safety of the transportation robot.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, the embodiments of the present disclosure provide a lifting device and a transfer robot for preventing the transfer device from tilting and improving the safety of the transfer robot.

In order to achieve the above purpose, the embodiments of the present disclosure provide the following technical solutions:

a first aspect of the embodiments of the present disclosure provides a lifting device, which includes: the pallet comprises a support frame with a pallet, the width direction of the pallet is parallel to the width direction of the support frame, the support frame comprises a first side surface and a second side surface which are adjacent and vertical to each other, and the first side surface deviates from the pallet;

the first sliding groove is positioned on the first side surface and extends along the height direction of the supporting frame; the first sliding groove is provided with a first guide surface and a second guide surface which are oppositely arranged along the width direction parallel to the supporting frame;

the sliding assembly is arranged on the support frame in a sliding mode and is used for being connected with a carrying device so as to drive the carrying device to move up and down along the support frame;

the first anti-tilting assembly is slidably arranged in the first sliding chute and connected with the sliding assembly, when the carrying device is stressed unevenly, one end of the first anti-tilting assembly is in contact with one of the first guide surface and the second guide surface, and the other end of the first anti-tilting assembly is in contact with the other of the first guide surface and the second guide surface;

and/or the support frame further comprises a second sliding chute arranged on the second side surface, wherein the second sliding chute is provided with a third guide surface and a fourth guide surface which are oppositely arranged along the width direction perpendicular to the support frame;

a second anti-tilting assembly connected with the sliding assembly is arranged in the second sliding groove, when the carrying device is stressed unevenly, one end of the second anti-tilting assembly is in contact with one of the third guide surface and the fourth guide surface, and the other end of the second anti-tilting assembly is in contact with the other of the third guide surface and the fourth guide surface.

In one possible implementation, the first anti-tilt assembly includes a first mounting plate and at least two first rollers disposed on the first mounting plate, the first mounting plate being rotatably connected to the slide assembly by a first rotating shaft;

when the goods on the carrying device deviate from the first center line, the outer peripheral surface of one of the first rollers is contacted with one of the first guide surface and the second guide surface, and the outer peripheral surface of the other first roller is contacted with the other one of the first guide surface and the second guide surface; the first center line is perpendicular to the width direction of the support frame.

In one possible implementation, a first lubricating member is disposed between the first rotating shaft and the first mounting plate, and the first lubricating member is used for reducing friction between the first mounting plate and the first rotating shaft.

In a possible implementation manner, the first anti-tilting assembly further includes a first limiting plate, the first limiting plate is installed through a first limiting bolt on the side surface of the sliding assembly, the first mounting plate deviates from the sliding assembly, the first limiting plate is provided with a first limiting hole, and the outer peripheral surface of the first lubricating member is in interference fit with the first limiting hole.

In a possible implementation manner, a first limiting groove is formed in the surface, away from the first roller, of the first mounting plate, a second limiting groove is formed in the surface, facing the first roller, of the sliding assembly, and a first limiting pin shaft is arranged in the first limiting groove and the second limiting groove.

In one possible implementation manner, the number of the first anti-tilting assemblies is two, and the two first anti-tilting assemblies are arranged on the sliding assembly at intervals along the height direction of the supporting frame.

In one possible implementation, the second anti-tilt assembly includes a second mounting plate and at least two second rollers disposed on the second mounting plate, the second mounting plate being rotatably connected to the slide assembly by a second rotating shaft;

when the goods on the carrying device deviate from the second central line, the outer peripheral surface of one of the second rollers is contacted with the third guide surface, and the outer peripheral surface of the other second roller is contacted with the fourth guide surface; the second center line is parallel to the width direction of the support frame.

In one possible implementation manner, the number of the second anti-tilting assemblies is two, and the two second anti-tilting assemblies are arranged on the sliding assembly at intervals along the height direction of the supporting frame.

In one possible implementation, a second lubricating member is disposed between the second rotating shaft and the second mounting plate, and the second lubricating member is used for reducing friction between the second mounting plate and the second rotating shaft.

In a possible implementation manner, the lubrication device further comprises a second limiting plate, the second limiting plate is mounted on the side face, away from the sliding assembly, of the second mounting plate through a second limiting bolt, the second limiting plate is provided with a third limiting hole, and the outer peripheral face of the second lubrication piece is in interference fit with the third limiting hole.

In a possible implementation manner, a third limiting groove is arranged on the surface of the second mounting plate, which is far away from the second roller; and a fourth limiting groove is formed in the surface, facing the second roller, of the sliding assembly, and a second limiting pin shaft is arranged in the third limiting groove and the fourth limiting groove.

In one possible implementation, the sliding assembly includes a first sliding member and a second sliding member connected to the first sliding member, and the first sliding member and the second sliding member are perpendicular to each other;

the first anti-tipping assembly is disposed on the first slide and the second anti-tipping assembly is disposed on the second slide.

In a possible implementation manner, the device further comprises a driving piece and a transmission assembly connected with the driving piece, wherein the transmission assembly comprises a conveyor belt, a first pressing plate and a second pressing plate;

the first pressing plate is arranged on the second sliding part, the second pressing plate is arranged on the supporting frame, and an accommodating space for fixing the conveyor belt is arranged between the first pressing plate and the second pressing plate.

In a possible implementation manner, the support frame further has a cover part for covering an area enclosed by the sliding assembly and the first sliding chute.

In a possible implementation manner, a containing groove for containing the conveying belt and a baffle are further arranged in the supporting frame, and the baffle is used for covering the containing groove.

Compared with the related art, the lifting device provided by the embodiment of the disclosure has the following advantages:

the lifting device provided by the embodiment of the disclosure is used for being connected with a carrying device of a carrying robot, and when the carrying device is stressed unevenly, two ends of the first anti-tilt assembly are respectively contacted with the first guide surface and the second guide surface, and/or two ends of the second anti-tilt assembly are respectively contacted with the third guide surface and the fourth guide surface, and/or the mutual acting force of the first anti-tilt assembly and the first guide surface and the second guide surface, and/or the mutual acting force of the second anti-tilt assembly and the third guide surface and the fourth guide surface are/is utilized, so that the carrying device of the carrying robot is prevented from tilting, and the safety of the carrying robot is improved.

A second aspect of the embodiments of the present disclosure provides a transfer robot including: the moving base, the carrying device and the lifting device provided by the first aspect; the bottom end of the lifting device is fixed on the movable base, and the carrying device is connected with the sliding assembly of the lifting device, so that the carrying device moves up and down along with the sliding assembly.

In addition to the technical problems solved by the embodiments of the present disclosure, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions, other technical problems that the lifting device and the transfer robot provided by the embodiments of the present disclosure can solve, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.

Drawings

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

Fig. 1 is a perspective view of a transfer robot provided in an embodiment of the present disclosure;

fig. 2 is a front view of a transfer robot provided in an embodiment of the present disclosure;

fig. 3 is a perspective view of a lifting device provided in an embodiment of the present disclosure;

fig. 4 is a front view of a lifting device provided in an embodiment of the present disclosure;

FIG. 5 is a cross-sectional view of a support stand provided in accordance with an embodiment of the present disclosure;

FIG. 6 is a schematic structural view of a support bracket, a first anti-tilt assembly and a second anti-tilt assembly provided by an embodiment of the present disclosure;

fig. 7 is a partial schematic structural view of a lifting device provided in the embodiment of the present disclosure;

FIG. 8 is an exploded view of the first anti-tilt assembly, the second anti-tilt assembly, and the glide assembly provided by an embodiment of the present disclosure;

FIG. 9 is an exploded schematic view of a first anti-tipping assembly provided by an embodiment of the present disclosure;

FIG. 10 is a schematic structural view of a first anti-tip assembly and a partial glide assembly provided by an embodiment of the present disclosure;

FIG. 11 is a cross-sectional view taken along line B-B of FIG. 10;

fig. 12 is a partial structural schematic view of a first support frame provided in the embodiment of the present disclosure;

FIG. 13 is an enlarged view of area A of FIG. 12;

fig. 14 is a partial structural schematic view of a support frame provided in the embodiment of the present disclosure;

fig. 15 is an enlarged schematic view of region C in fig. 14.

Description of reference numerals:

100: a lifting device;

110: a support frame; 111: a first chute; 111 a: a first guide surface; 111 b: a second guide surface; 112: a second chute; 112 a: a third guide surface; 112 b: a fourth guide surface; 113: a containing groove; 114: a baffle plate;

120: a pallet;

130: a sliding assembly; 131: a first slider; 132: a second slider; 133: a second limit groove;

140: a first anti-tip assembly; 141: a first mounting plate; 1411: a second limiting hole; 1412: a first mounting hole; 142: a first roller; 143: a first rotating shaft; 144: a first lubricating member; 145: a first limit plate; 1451: a first limit hole; 146: a first limit bolt; 147: a first limit groove; 148: a first limit pin shaft;

150: a second anti-tip assembly; 151: a second mounting plate; 1511: a fourth limiting hole; 1512: a second mounting hole; 152: a second roller; 153: a second rotating shaft; 154: a second lubricant; 155: a second limiting plate; 1551: a third limiting hole; 156: a second limit bolt;

160: a first platen;

170: a second platen;

180: a closure member; 181: a first cover sealing plate; 182: a second cover sealing plate; 183: a third cover plate;

200: a carrying device;

300: and moving the base.

Detailed Description

As described in the background art, the transfer robot in the related art has a technical problem of tilting, and the inventors have found through research that the main cause of such a problem is: when the carrying device carries goods, the carrying device is influenced by working conditions, and the goods are difficult to ensure to be always positioned at the central position of the carrying device, so that the gravity center of the carrying device shifts, the carrying robot inclines, and the safety of the carrying robot is reduced.

In view of the above technical problems, an embodiment of the present disclosure provides a lifting device and a transfer robot, where a first anti-tilt assembly and/or a second anti-tilt assembly are disposed on a support frame, and when a force applied to the transfer robot is not uniform, two ends of the first anti-tilt assembly are in contact with a first guide surface and a second guide surface, respectively, and/or two ends of the second anti-tilt assembly are in contact with a third guide surface and a fourth guide surface, respectively, and/or an interaction force between the first anti-tilt assembly and the first guide surface and an interaction force between the second anti-tilt assembly and the third guide surface and an interaction force between the second anti-tilt assembly and the fourth guide surface are utilized to prevent the transfer device of the transfer robot from tilting, thereby improving the safety of the transfer robot.

In order to make the aforementioned objects, features and advantages of the embodiments of the present disclosure more comprehensible, embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. 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 and 2, an embodiment of the present disclosure provides a transfer robot including a mobile base 300, a transfer device 200, and a lifting device 100.

Wherein, remove base 300 can include the bottom plate and set up at the bottom plate towards the running gear (not shown in the figure) on ground one side, and running gear can include a plurality of walking wheels and actuating mechanism, and a plurality of walking wheels include the action wheel and follow the driving wheel, and the action wheel is connected with actuating mechanism, can make under actuating mechanism's drive remove the base or turn to make transfer robot remove to the operation position.

The bottom end of the lifting device 100 is fixed on the movable base 300, and the carrying device 200 is connected with the sliding assembly 130 of the lifting device 100, so that the carrying device 200 moves up and down along with the sliding assembly 130, the height of the carrying device 200 from the ground is adjusted, and the carrying device 200 can conveniently take and place goods at different heights.

Wherein the lifting device 100 includes a first anti-tilt assembly 140 and a second anti-tilt assembly 150 connected to the slide assembly 130. When the transfer robot is transferring goods, the center of gravity of the goods does not coincide with the center of gravity of the transfer device 200, for example, the goods on the transfer device 200 is offset from the first center line S1 and/or offset from the second center line S2, so that the force applied to the transfer device 200 is not uniform, and at this time, the transfer device 200 can be prevented from tilting by using the interaction force between the first anti-tilting member 140 and the second anti-tilting member 150 and the supporting frame 110 of the lifting device 100, so as to prevent the transfer robot from tilting, thereby improving the safety of the transfer robot.

With continued reference to fig. 3 to 15, the present disclosure provides a lifting device 100, and the lifting device 100 may be applied to a transfer robot. However, the lifting device 100 in the present embodiment is not limited to the application to the transfer robot, and may be applied to a transfer apparatus.

With continued reference to fig. 3 and 4, the lift device 100 includes a support bracket 110, a slide assembly 130, a first anti-tilt assembly 140, and a second anti-tilt assembly 150.

The support bracket 110 serves to provide mounting carriers to the aforementioned slide assembly 130, first anti-tilt assembly 140, and second anti-tilt assembly 150, and also to mount the aforementioned components to a transfer robot or transfer apparatus.

The supporting frame 110 may include a bracket and a pallet 120, wherein the bracket may include two supporting plates spaced apart from each other and a connecting plate for connecting the tops of the two supporting plates, and the supporting plates may have a length perpendicular to the moving base 300.

The pallet 120 is mounted on the rack such that the width direction of the pallet 120 and the width direction of the support stand 110 are parallel to each other, that is, the width direction of the pallet 120 and the length direction of the connecting plate, that is, the X direction in fig. 3 and 4, are parallel to each other, such that the width direction of the pallet 120 is a non-traveling direction of the transfer robot, and the length direction of the pallet 120 is a traveling direction of the transfer robot.

In this embodiment, the number of the pallets 120 may be one or multiple, and when the number of the pallets 120 is multiple, the pallets 120 are disposed on the supporting frame 110 at intervals along the vertical direction, so that the cargo carrying capacity of the carrying robot using the lifting device 100 can be increased, and the working efficiency of the carrying robot is improved.

The supporting rack 110 comprises a first side and a second side which are adjacent and perpendicular to each other, wherein the first side faces away from the pallet 120, taking the orientation shown in fig. 3 as an example, the first side is the front side of the supporting rack 110, accordingly, the pallet 120 can be disposed on the rear side of the supporting rack 110, the second side is the side of the supporting rack 110 facing the carrying device 200, or the second side faces the center line of the pallet 120, it should be noted that when the supporting rack comprises two supporting plates which are disposed at intervals, the second side is the opposite side of the two supporting plates, that is, the second side is the left side of one of the supporting plates, and the second side is the right side of one of the supporting plates.

A first sliding groove 111 is disposed on a first side surface of the supporting frame 110, and the first sliding groove 111 extends along a height direction of the supporting frame 110, that is, a length direction of the first sliding groove 111 is the same as the height direction of the supporting frame 110. The shape of the first sliding chute 111 may be regular, for example, the shape of the first sliding chute 111 is rectangular. For another example, the shape of the first sliding groove 111 may be irregular.

With continued reference to fig. 5, 6 and 7, the first sliding chute 111 has a first guide surface 111a and a second guide surface 111b which are oppositely arranged along a direction parallel to the width direction of the supporting bracket 110, that is, the first sliding chute 111 has a first guide surface 111a and a second guide surface 111b which are oppositely arranged along the X direction shown in fig. 5.

With continued reference to fig. 3 and 4, the sliding assembly 130 is slidably disposed on the supporting rack 110 and is configured to be connected to the carrying device 200, so as to drive the carrying device 200 to move up and down along the supporting rack 110, and to place the goods on the shelves or carry the goods on the shelves to the pallet by the up and down movement of the carrying device 200.

Referring to fig. 1 and 6, when the force applied to the carrying device 200 is not uniform, for example, when the load on the carrying device deviates from the first center line S1, one end of the first anti-tilt assembly 140 contacts one of the first guide surface 111a and the second guide surface 111b, and the other end of the first anti-tilt assembly 140 contacts the other of the first guide surface 111a and the second guide surface 111b, the first anti-tilt assembly is prevented from tilting left and right by the interaction force between the first anti-tilt assembly and the first guide surface and the second guide surface, thereby improving the safety of the carrying robot.

In this embodiment, the first center line S1 is perpendicular to the width direction of the supporting frame 110.

The lifting device provided in this embodiment further includes a second anti-tilt assembly 150 and a second sliding chute 112, wherein the second sliding chute 112 is disposed on the second side surface, and the second sliding chute 112 extends along the height direction of the supporting frame 110. The second sliding chute 112 has a third guide surface 112a and a fourth guide surface 112b which are oppositely arranged along the direction perpendicular to the width direction of the supporting frame 110.

The second anti-tilt assembly 150 is slidably disposed in the second sliding groove 112 and connected to the sliding assembly 130, such that when the force applied to the carrying device 200 is not uniform, for example, when the cargo on the carrying device deviates from the second center line S2, one end of the second anti-tilt assembly 150 contacts one of the third guide surface 112a and the fourth guide surface 112b, and the other end of the second anti-tilt assembly 150 contacts the other of the third guide surface 112a and the fourth guide surface 112b, so that the interaction force between the second anti-tilt assembly 150 and the third guide surface 112a and the second guide surface 111b prevents the carrying device 200 from tilting back and forth, thereby improving the safety of the carrying robot.

First and second anti-tipping assemblies 140, 150 in this embodiment may be present separately or simultaneously. In one example, when only the first anti-tilt assembly 140 is present, the left-right tilting of the lifting device 100 can be prevented, i.e., the tilting of the lifting device 100 in the non-travel direction can be prevented; in another example, when only the second anti-tilt assembly 150 is present, the lifting device 100 can be prevented from tilting back and forth, i.e., the lifting device 100 can be prevented from tilting in the traveling direction; in still another example, when the first and second anti-tilt assemblies 140 and 150 are simultaneously present, the tilting of the transfer device 200 in the left-right direction and the front-rear direction can be simultaneously prevented, providing a guarantee for the safety of the transfer robot.

In some embodiments, referring to fig. 8 and 9, the first anti-tilt assembly 140 includes a first mounting plate 141 and at least two first rollers 142 connected to the first mounting plate 141, and the first mounting plate 141 is rotatably connected to the sliding assembly 130 via a first rotating shaft 143.

Continuing with fig. 6, when the carrying device 200 is unevenly stressed, i.e. the cargo on the carrying device 200 deviates from the first center line S1 thereof, the outer peripheral surface of one of the first rollers 142 contacts one of the first guide surface 111a and the second guide surface 111b, the outer peripheral surface of the other first roller 142 contacts the other of the first guide surface 111a and the second guide surface 111b, and the anti-roll function of the first anti-roll assembly is realized by the interaction force of the two first rollers 142 and the first guide surface 111a and the second guide surface 111 b.

In the embodiment, the first roller 142 is used as a main body component of the first anti-tilting assembly 140, and when the first anti-tilting assembly 140 moves up and down along the first sliding groove 111 along with the sliding assembly 130, friction between the first roller 142 and the first sliding groove 111 is rolling friction, so that wear of the first roller 142 and the supporting frame 110 can be reduced, and service lives of the first roller 142 and the supporting frame 110 are prolonged.

In this embodiment, the number of the first anti-tip assemblies 140 may be one or more, and exemplarily, the number of the first anti-tip assemblies 140 is two, and two first anti-tip assemblies 140 are spaced apart from each other on the sliding assembly 130 along the height direction of the supporting frame 110. With this arrangement, when the force applied to the carrying device 200 is not uniform, four points of action are provided between the first anti-tilt assembly 140 and the first sliding chute 111, so as to improve the anti-tilt capability of the first anti-tilt assembly.

In some embodiments, a first lubricant 144 is disposed between the first rotating shaft 143 and the first mounting plate 141, and the first lubricant 144 is used to reduce friction between the first mounting plate 141 and the first rotating shaft 143.

For example, the first mounting plate 141 may be provided with a first mounting hole 1412, the first lubricant 144 is mounted in the first mounting hole 1412, the first lubricant 144 has a shaft hole penetrating therethrough, the first rotating shaft 143 is mounted in the shaft hole, and the first lubricant 144 is used to relieve friction between the first mounting plate 141 and the first rotating shaft 143. The first lubricating member 144 may include a copper sleeve, which has good sliding performance and self-lubricating performance, and may better reduce the friction between the first mounting plate 141 and the first rotating shaft 143.

In some embodiments, the first anti-tipping assembly 140 further includes a first limit plate 145, the first limit plate 145 having a first limit hole 1451, the first limit hole 1451 penetrating the first limit plate 145 in an axial direction of the first limit bolt 146.

The first limiting plate 145 is installed on the side of the first mounting plate 141 departing from the sliding assembly 130 through the first limiting bolt 146, for example, the first mounting plate 141 is provided with a second limiting hole 1411, one end of the first limiting bolt 146 passes through the first limiting plate 145 and then is connected with the second limiting hole 1411, wherein the number of the first limiting bolt 146 and the second limiting hole 1411 can be multiple, and the first limiting bolt 146 and the second limiting hole 1411 are arranged in a one-to-one correspondence manner, so that the connection stability of the first limiting plate 145 and the first mounting plate 141 can be improved.

In addition, the first limiting hole 1451 of the first limiting plate 145 is further sleeved on the outer peripheral surface of the first lubricant 144, and the outer peripheral surface of the first lubricant 144 is in interference fit with the first limiting hole 1451, so that abrasion to the first lubricant 144 is reduced.

The present embodiment can define the moving path of the first roller 142 by the arrangement of the first restriction plate 145, and improves the safety of the first anti-tilt assembly 140.

In some embodiments, referring to fig. 10 and 11, a first limiting groove 147 is disposed on a surface of the first mounting plate 141 facing away from the first roller 142; the surface of the sliding assembly 130 facing the first roller 142 is provided with a second limit recess 133, and the first limit recess 147 is matched with the second limit recess 133, that is, the axis of the first limit recess 147 is collinear with the axis of the second limit recess 133.

First limiting pin shafts 148 are arranged in the first limiting groove 147 and the second limiting groove 133, namely, one end of each first limiting pin shaft 148 is located in the first limiting groove 147, and the other end of each first limiting pin shaft 148 is located in the second limiting groove 133, so that the connection strength between the first mounting plate 141 and the sliding assembly 130 can be further guaranteed.

In addition, the groove bottoms of the first limiting groove 147 and the second limiting groove 133 at the two ends of the first limiting pin shaft 148 respectively have certain gaps, so that the first limiting pin shaft 148 has certain rotation angles in the first limiting groove 147 and the second limiting groove 133, and the first anti-tilting assembly is convenient to assemble.

In some embodiments, with continued reference to fig. 8 and 9, the second anti-tipping assembly 150 includes a second mounting plate 151 and at least two second rollers 152 coupled to the second mounting plate 151, the second mounting plate 151 being rotatably coupled to the slide assembly 130 via a second rotational axis 153.

When the force applied to the carrying device 200 is not uniform, i.e. the load on the carrying device 200 deviates from the second center line thereof, the outer peripheral surface of one of the second rollers 152 contacts the third guide surface 112a, and the outer peripheral surface of the other second roller 152 contacts the second guide surface 111b, and the anti-tilt function of the second anti-tilt assembly 150 is achieved by the interaction force of the two second rollers 152 with the third guide surface 112a and the fourth guide surface 112 b.

The second center line is perpendicular to the width direction of the support bracket 110 and S2.

In the embodiment, the second roller 152 is used as a main body component of the second anti-tilting assembly 150, and when the upper second anti-tilting assembly 150 moves up and down along the second sliding chute 112 along with the sliding assembly 130, the friction between the second roller 152 and the second sliding chute 112 is rolling friction, so that the wear of the second roller 152 and the supporting frame 110 can be reduced, and the service lives of the two can be prolonged.

In this embodiment, the number of the second anti-tilt assemblies 150 may be one or more, and illustratively, the number of the second anti-tilt assemblies 150 is two, and the two second anti-tilt assemblies 150 are disposed on the sliding assembly 130 at intervals along the height direction of the supporting frame 110. With this arrangement, when the force applied to the carrying device 200 is not uniform, four points of action are provided between the second anti-tilt assembly 150 and the second chute 112, so as to improve the anti-tilt capability of the second anti-tilt assembly 150.

In some embodiments, a second lubricant 154 is disposed between the second rotating shaft 153 and the second mounting plate 151, and the second lubricant 154 is used to reduce friction between the second mounting plate 151 and the second rotating shaft 153.

For example, a second mounting hole 1512 may be provided on the second mounting plate 151, the second lubricating member 154 is mounted in the second mounting hole 1512, the second lubricating member 154 has a shaft hole penetrating through itself, the second rotating shaft 153 is mounted in the shaft hole, and the second lubricating member 154 is used to relieve friction between the second mounting plate 151 and the second rotating shaft 153. Among them, the second lubricating member 154 may include a copper sleeve having better sliding property and self-lubricating property, which may better reduce the friction force between the second mounting plate 151 and the second rotating shaft 153.

In some embodiments, the second anti-tipping assembly 150 further includes a second limit plate 155, the second limit plate 155 having a third limit hole 1551, the third limit hole 1551 extending through the second limit plate 155 in an axial direction of the second limit bolt 156.

The second limiting plate 155 is installed on the side of the second mounting plate 151 departing from the sliding assembly 130 through the second limiting bolt 156, the second limiting plate 155 has a fourth limiting hole 1511, and one end of the second limiting bolt 156 is connected to the fourth limiting hole 1511 after passing through the second limiting plate 155.

Wherein, the number of the spacing hole 1511 of second limit bolt 156 and fourth can be a plurality of, and the spacing hole 1511 one-to-one of second limit bolt 156 and fourth sets up, so, can improve the stability of being connected of second limiting plate 155 and second mounting panel 151.

In addition, the third limiting hole 1551 of the second limiting plate 155 is further sleeved on the outer peripheral surface of the second lubricating member 154, and the outer peripheral surface of the second lubricating member 154 is in interference fit with the third limiting hole 1551, so that the abrasion to the second lubricating member 154 is reduced.

The present embodiment can define the moving path of the second roller 152 by the arrangement of the second restriction plate 155, and the safety of the first anti-tilt assembly is improved.

In some embodiments, a third limiting groove (not shown) is disposed on a surface of the second mounting plate 151 facing away from the second roller 152; a fourth limiting groove (not shown) is disposed on the surface of the sliding assembly 130 facing the second roller 152, and the third limiting groove and the fourth limiting groove are used together, that is, the axis of the third limiting groove and the axis of the fourth limiting groove are collinear.

Be provided with second spacing round pin axle (not shown in the figure) in third spacing recess and the fourth spacing recess, promptly, the one end of second spacing round pin axle is located the third spacing recess, and the other end of second spacing round pin axle is located the fourth spacing recess, so, can provide further guarantee for the joint strength between second mounting panel 151 and the sliding component 130.

In addition, the bottom of the third spacing recess and the fourth spacing recess all have certain clearance respectively at the both ends of second spacing round pin axle, so can make the spacing round pin axle of second have certain turned angle in third spacing recess and fourth spacing recess, make things convenient for the assembly of the subassembly that inclines of second.

In some embodiments, referring to fig. 12 and 13, the sliding assembly 130 includes a first sliding member 131 and a second sliding member 132, and each of the first sliding member 131 and the second sliding member 132 is a plate-shaped body.

The first sliding member 131 is connected to the second sliding member 132, for example, the first sliding member 131 is disposed on one side of the second sliding member 132, and the first sliding member 131 and the second sliding member 132 are perpendicular to each other. Wherein the first slider 131 may also be disposed between both ends of the second slider 132.

The first anti-tipping assembly 140 is disposed on the first slide 131 and the second anti-tipping assembly 150 is disposed on the second slide 132, thus facilitating installation of the first and second anti-tipping assemblies 140 and 150.

It should be noted that, when the sliding assembly 130 includes the first slider 131 and the second slider 132, the second limiting groove 133 is disposed on the first slider 131, and the fourth limiting groove is disposed on the second slider 132.

In some embodiments, referring to fig. 14 to 15, the lifting device 100 further includes a driving member (not shown) and a transmission assembly connected to the driving member, wherein the transmission assembly includes a conveyor belt (not shown), a first pressing plate 160 and a second pressing plate 170.

First clamp plate 160 sets up on second slider 132, and second clamp plate 170 sets up on support frame 110, has the accommodation space of fixed conveyer belt between first clamp plate 160 and the second clamp plate 170, and this embodiment is connected conveyer belt and second slider through second clamp plate 170 and first clamp plate 160, so, when driving piece during operation, can drive the sliding assembly and reciprocate, and then, drive handling device and reciprocate.

In some embodiments, with continued reference to fig. 7 and 8, the supporting frame 110 further has a cover member 180, and the cover member 180 is used for covering the area enclosed by the sliding member 130 and the first sliding chute 111, i.e., the cover member 180 is used for covering the area enclosed by the first sliding member 131 and the first sliding chute 111, so as to prevent foreign matters from entering the first sliding chute 111, and ensure the normal use of the first anti-tilt assembly 140.

The sealing member 180 includes a first sealing plate 181, a second sealing plate 182, and a third sealing plate 183, the length direction of the first sealing plate 181 is parallel to the vertical direction, and the second sealing plate 182 and the third sealing plate 183 are respectively disposed at two ends of the first sealing plate 181, so that the three are enclosed into a U-shaped structure. One end of the second cover plate 182 is connected to the upper end surface of the first slider 131, and the other end of the second cover plate 182 is inserted into the first sliding groove 111 and abuts against the bottom surface of the first sliding groove 111; meanwhile, one end of the third cover plate 183 is connected to the lower end surface of the first slider 131, and the other end of the third cover plate 183 is inserted into the first sliding groove 111 and abuts against the bottom surface of the first sliding groove 111.

With continued reference to fig. 5 and 6, the holding frame 110 is further provided with a receiving groove 113 for receiving the conveyor belt and a baffle plate 114, and the baffle plate 114 is used for covering the receiving groove 113 to prevent external contaminants from entering the receiving groove, thereby ensuring normal use of the lifting device.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

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 (16)

1. A lifting device, comprising:

the support frame is provided with a pallet, the width direction of the pallet and the width direction of the support frame are parallel to each other, the support frame comprises a first side surface and a second side surface which are adjacent and vertical to each other, and the first side surface deviates from the pallet;

the first sliding groove is positioned on the first side surface and extends along the height direction of the supporting frame; the first sliding groove is provided with a first guide surface and a second guide surface which are oppositely arranged along the width direction parallel to the supporting frame;

the sliding assembly is arranged on the support frame in a sliding mode and is used for being connected with a carrying device so as to drive the carrying device to move up and down along the support frame;

a first anti-tilt assembly, which is slidably disposed in the first sliding chute and connected to the sliding assembly, wherein when the carrying device is unevenly stressed, one end of the first anti-tilt assembly contacts one of the first guide surface and the second guide surface, and the other end of the first anti-tilt assembly contacts the other of the first guide surface and the second guide surface;

and/or the support frame further comprises a second sliding chute arranged on the second side surface, wherein the second sliding chute is provided with a third guide surface and a fourth guide surface which are oppositely arranged along the width direction perpendicular to the support frame;

a second anti-tilting assembly connected with the sliding assembly is arranged in the second sliding groove, when the carrying device is stressed unevenly, one end of the second anti-tilting assembly is in contact with one of the third guide surface and the fourth guide surface, and the other end of the second anti-tilting assembly is in contact with the other of the third guide surface and the fourth guide surface.

2. The lift apparatus of claim 1, wherein the first anti-tilt assembly comprises a first mounting plate and at least two first rollers disposed on the first mounting plate, the first mounting plate being rotatably coupled to the slide assembly by a first rotational axis;

when the goods on the carrying device deviate from the first center line, the outer peripheral surface of one of the first rollers is contacted with one of the first guide surface and the second guide surface, and the outer peripheral surface of the other first roller is contacted with the other one of the first guide surface and the second guide surface; the first center line is perpendicular to the width direction of the support frame.

3. The lifting device according to claim 2, wherein a first lubricating member is provided between the first rotating shaft and the first mounting plate, the first lubricating member being configured to reduce friction between the first mounting plate and the first rotating shaft.

4. The lifting device as recited in claim 3, wherein the first anti-tipping assembly further comprises a first limiting plate mounted on a side of the first mounting plate facing away from the sliding assembly by a first limiting bolt, the first limiting plate having a first limiting hole, and the outer peripheral surface of the first lubricant being in interference fit with the first limiting hole.

5. The lifting device as recited in claim 4, wherein a first limiting groove is disposed on a surface of the first mounting plate facing away from the first roller, a second limiting groove is disposed on a surface of the sliding assembly facing the first roller, and a first limiting pin is disposed in the first limiting groove and the second limiting groove.

6. The lifting device as claimed in any one of claims 1 to 5, wherein the number of the first anti-tilt assemblies is two, and the two first anti-tilt assemblies are provided at intervals on the sliding assembly in a height direction of the support frame.

7. The lift device of any one of claims 1-5, wherein the second anti-tipping assembly includes a second mounting plate and at least two second rollers disposed on the second mounting plate, the second mounting plate being rotatably coupled to the slip assembly by a second rotational axis;

when the goods on the carrying device deviate from the second central line, the outer peripheral surface of one of the second rollers is contacted with the third guide surface, and the outer peripheral surface of the other second roller is contacted with the fourth guide surface; the second center line is parallel to the width direction of the support frame.

8. The lifting device as claimed in claim 7, wherein the number of the second anti-tilt assemblies is two, and the two second anti-tilt assemblies are provided on the sliding assembly at intervals in the height direction of the supporting frame.

9. The lift mechanism of claim 8, wherein a second lubrication member is disposed between the second rotating shaft and the second mounting plate for reducing friction between the second mounting plate and the second rotating shaft.

10. The lifting device according to claim 9, further comprising a second limiting plate mounted on a side of the second mounting plate facing away from the sliding assembly by a second limiting bolt, wherein the second limiting plate has a third limiting hole, and an outer peripheral surface of the second lubricant is in interference fit with the third limiting hole.

11. The lifting device as recited in claim 10, wherein a third limiting groove is provided on a surface of the second mounting plate facing away from the second roller; and a fourth limiting groove is formed in the surface, facing the second roller, of the sliding assembly, and a second limiting pin shaft is arranged in the third limiting groove and the fourth limiting groove.

12. The lifting device as claimed in any one of claims 1 to 5, wherein the sliding assembly comprises a first sliding member and a second sliding member connected to the first sliding member, the first sliding member and the second sliding member being perpendicular to each other;

the first anti-tipping assembly is disposed on the first slide and the second anti-tipping assembly is disposed on the second slide.

13. The lifting device as recited in claim 12, further comprising a drive member and a transmission assembly coupled to the drive member, the transmission assembly including a conveyor belt, a first platen and a second platen;

the first pressing plate is arranged on the second sliding part, the second pressing plate is arranged on the supporting frame, and an accommodating space for fixing the conveyor belt is arranged between the first pressing plate and the second pressing plate.

14. The lift device of claim 13, wherein the support frame further comprises a cover member for covering an area enclosed by the slide assembly and the first runner.

15. The lifting device as claimed in claim 14, wherein a receiving slot and a baffle plate are provided in the supporting frame for receiving the conveyor belt, and the baffle plate is used for covering the receiving slot.

16. A transfer robot, characterized by comprising: a mobile base, a handling device and a lifting device according to any of claims 1-15;

the bottom end of the lifting device is fixed on the movable base, and the carrying device is connected with the sliding assembly of the lifting device, so that the carrying device moves up and down along with the sliding assembly.

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