CN217732592U - Lifting device of transfer robot and transfer robot - Google Patents
Lifting device of transfer robot and transfer robot Download PDFInfo
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- CN217732592U CN217732592U CN202221673104.5U CN202221673104U CN217732592U CN 217732592 U CN217732592 U CN 217732592U CN 202221673104 U CN202221673104 U CN 202221673104U CN 217732592 U CN217732592 U CN 217732592U
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- lifting device
- fork body
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- 238000005096 rolling process Methods 0.000 claims abstract description 140
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The application discloses transfer robot's hoisting device and transfer robot. The lifting device comprises two guide rails, two rolling mechanisms, two adjusting mechanisms and a fork body, guide grooves are formed in the guide rails, the two guide rails are arranged in parallel, notches of the guide grooves of the two guide rails are arranged oppositely, each rolling mechanism comprises a first rolling part and a first mounting base, the first rolling parts are rotatably mounted on the first mounting bases, the first rolling parts of the two rolling mechanisms respectively extend into the guide grooves of the two guide rails, the fork body is connected to the first mounting bases of the two rolling mechanisms, the first mounting bases of the two rolling mechanisms are movably connected with the fork body in a first direction, the first direction is perpendicular to a plane determined by the extending direction of the two guide rails, the two adjusting mechanisms are respectively connected with the fork body and the corresponding first mounting bases, and the adjusting mechanisms are used for adjusting the corresponding first mounting bases to move relative to the fork body, so that the first rolling parts are in rolling contact with the bottom walls of the guide grooves by the first mounting bases.
Description
Technical Field
The application belongs to the technical field of transfer robots, and particularly relates to a lifting device of a transfer robot and the transfer robot.
Background
The transfer robot is an industrial robot capable of carrying out automatic transfer operation, can carry goods to move on the flat ground, realizes goods transportation on the flat ground, can also drive the goods through the lifting device to reciprocate, realizes goods transportation on different height planes.
The lifting device comprises a guide rail, rolling pieces and a fork body, the fork body is used for placing goods, the fork body is matched with the guide rail in a moving mode through the rolling pieces, so that the fork body can move along the guide rail, under the condition that the guide rail and the horizontal plane are obliquely placed, the fork body can change the height of the fork body along the guide rail in a moving mode, and then the goods are transported to different height planes. However, due to processing and assembling errors, a gap is easy to exist between the rolling part and the guide rail, so that the fork body shakes in the moving process, and the stability and the safety of the lifting device are affected.
SUMMERY OF THE UTILITY MODEL
The purpose of the embodiment of the application is to provide a lifting device of a transfer robot and a transfer robot, and the problem that in the related art, due to the fact that gaps exist between rolling pieces and guide rails easily, the fork body shakes in the moving process can be solved.
In order to solve the technical problem, the present application is implemented as follows:
in a first aspect, an embodiment of the present application provides a lifting device for a transfer robot, including two guide rails, two rolling mechanisms, two adjusting mechanisms, and a fork, wherein:
the guide rails are provided with guide grooves, the two guide rails are arranged in parallel, notches of the guide grooves of the two guide rails are arranged oppositely, the rolling mechanism comprises a first rolling piece and a first mounting base, the first rolling piece is rotatably mounted on the first mounting base, and the first rolling pieces of the two rolling mechanisms respectively extend into the guide grooves of the two guide rails;
the fork body is connected with the first mounting bases of the two rolling mechanisms, the first mounting bases of the two rolling mechanisms are movably connected with the fork body in a first direction, the first direction is perpendicular to a plane determined by the extending directions of the two guide rails, the two adjusting mechanisms are respectively connected with the fork body and the corresponding first mounting bases, and the adjusting mechanisms are used for adjusting the corresponding first mounting bases to move relative to the fork body, so that the first mounting bases drive the first rolling pieces to be in rolling contact with the bottom wall of the guide groove.
In a second aspect, an embodiment of the present application further provides a transfer robot, including the lifting device.
In this application embodiment, when having the clearance between the diapire of first rolling piece and guide way, operation adjustment mechanism makes corresponding first mounting base drive first rolling piece and removes for the fork body, until the diapire rolling contact of first rolling piece and guide way, eliminate the clearance between first rolling piece and the diapire, in order to alleviate first rolling piece, the whole of first mounting base and fork body formation takes place the problem of rocking when removing along the guide way, and then improve stationarity and the security of hoisting device operation in-process. Therefore, the problem that in the related art, due to the fact that gaps exist between the rolling parts and the guide rails easily, the fork body shakes in the moving process can be solved.
Drawings
Fig. 1 is a schematic structural diagram of a lifting device disclosed in an embodiment of the present application;
FIG. 2 is a top view of a lifting device disclosed in an embodiment of the present application;
FIG. 3 is a schematic diagram of a guide rail and a rolling mechanism according to an embodiment of the disclosure;
FIG. 4 is a schematic view of a fork and a rolling mechanism according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a first rolling element, a first mounting base and a mounting plate according to an embodiment of the disclosure.
Description of reference numerals:
100-guide rail, 110-guide groove, 111-bottom wall, 112-side wall,
200-rolling mechanism, 210-first rolling piece, 220-first mounting base, 221-guide projection, 222-second threaded hole, 230-second rolling piece, 240-second mounting base,
300-fork body, 310-supporting platform, 320-mounting plate, 321-guide hole,
410-jackscrew, 420-first threaded connector,
500-a second threaded connector,
600-connecting plate.
Detailed Description
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, but not all, embodiments of the present 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.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application are capable of operation in sequences other than those illustrated or described herein, and that the terms "first," "second," etc. are generally used in a generic sense and do not limit the number of terms, e.g., a first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
The embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.
As shown in fig. 1 to 5, the present application discloses a lifting device of a transfer robot, which includes two guide rails 100, two rolling mechanisms 200, two adjusting mechanisms, and a fork 300.
Alternatively, the first rolling element 210 may be a first rolling ball, the first rolling ball is rotatably embedded on the first mounting base 220, and a part of the first rolling ball extends out of the first mounting base 220. Alternatively, the first rolling member 210 may be a first guide wheel, and the first guide wheel may be rotatably mounted to the first mounting base 220 by a first rotating shaft.
The fork 300 is connected to the first mounting bases 220 of the two rolling mechanisms 200, the first mounting bases 220 of the two rolling mechanisms 200 are movably connected to the fork 300 in a first direction perpendicular to the plane defined by the extending directions of the two guide rails 100, the two adjusting mechanisms are respectively connected to the fork 300 and the corresponding first mounting base 220, in other words, both adjusting mechanisms are connected to the fork 300 and are respectively connected to the first mounting bases 220 of the two rolling mechanisms 200, and the adjusting mechanisms are used for adjusting the corresponding first mounting base 220 to move relative to the fork 300, so that the first mounting base 220 drives the first rolling element 210 to be in rolling contact with the bottom wall 111 of the guide groove 110.
When the first rolling member 210 extends into the corresponding guide slot 110, but a gap exists between the first rolling member 210 and the bottom wall 111 of the guide slot 110 due to a machining error or an assembly error, the adjustment mechanism is operated to enable the corresponding first mounting base 220 to drive the first rolling member 210 to move towards the bottom wall 111 of the guide slot 110 until the first rolling member 210 is in rolling contact with the bottom wall 111 of the guide slot 110, so as to eliminate the gap between the first rolling member 210 and the bottom wall 111 of the guide slot 110, and prevent the whole formed by the first rolling member 210, the first mounting base 220 and the fork 300 from moving in the first direction. Under the condition that the first rolling member 210 rolls along the bottom wall 111, the first rolling member 210 drives the corresponding first mounting base 220 and the fork 300 to move along the guide slot 110, so as to change the height of the lifting device.
In this embodiment, when a gap exists between the first rolling element 210 and the bottom wall 111 of the guide groove 110, the adjusting mechanism is operated to make the corresponding first mounting base 220 drive the first rolling element 210 to move relative to the fork 300 until the first rolling element 210 is in rolling contact with the bottom wall 111 of the guide groove 110, so as to eliminate the gap between the first rolling element 210 and the bottom wall 111, thereby alleviating the problem that the whole formed by the first rolling element 210, the first mounting base 220 and the fork 300 shakes when moving along the guide groove 110, and further improving the stability and safety of the lifting device in the operation process. Therefore, the problem that in the related art, due to the fact that gaps exist between the rolling parts and the guide rails easily, the fork body shakes in the moving process can be solved.
The specific structure of the adjusting mechanism is various, and in an alternative embodiment, the adjusting mechanism may include a telescopic cylinder, such as an air cylinder or an oil cylinder, a cylinder body of the telescopic cylinder is connected to the fork 300, and a piston rod of the telescopic cylinder is connected to the first mounting base 220, and when the telescopic cylinder is extended or shortened, the telescopic cylinder can drive the corresponding first mounting base 220 to move relative to the fork 300, so that the first mounting base 220 drives the first rolling member 210 to make rolling contact with the bottom wall 111 of the guide slot 110. In this case, the telescopic cylinder is a common component, and the mode of operating the telescopic cylinder is also simpler.
In another alternative embodiment, the adjusting mechanism may include a top thread 410, the fork 300 may be opened with a first threaded hole, the top thread 410 may be matched with the first threaded hole, and the top thread 410 passes through the fork 300 and abuts against the first mounting base 220. When the top thread 410 is rotated, the top thread 410 rotates relative to the fork 300 and moves relative to the fork 300, so as to change the distance between the fork 300 and the first mounting base 220 of the top thread 410, and further drive the corresponding first mounting base 220 to move relative to the fork 300, so that the first mounting base 220 drives the first rolling element 210 to be in rolling contact with the bottom wall 111 of the guide groove 110. Compared with a telescopic cylinder, the cost of the jackscrew 410 is lower, and the cost of the lifting device can be reduced.
Along the extending direction of the guide slot 110, the first mounting base 220 may be provided with first rolling members 210 at both ends, and the first rolling members 210 at both ends of the first mounting base 220 are in rolling contact with the bottom wall 111 of the guide slot 110. Further, both end portions of the first mounting base 220 may be provided with a plurality of first rolling members 210, and the plurality of first rolling members 210 are in rolling contact with the bottom wall 111 of the guide groove 110.
In this case, compared to the technical scheme of providing one first rolling member 210, the plurality of first rolling members 210 are provided, and the plurality of first rolling members 210 are distributed at intervals and are in rolling contact with the bottom wall 111 of the guide groove 110, so that the matching stability of the rolling mechanism 200 and the guide rail 100 can be enhanced, and the movement stability of the fork 300 connected to the rolling mechanism 200 can be further enhanced.
In the case that the first rolling members 210 are disposed at both ends of the first mounting base 220 along the extending direction of the guide groove 110, the adjusting mechanism may include a jack screw 410, and the distance between the two first rolling members 210 and the jack screw 410 is the same along the extending direction of the guide groove 110, so that the pressing forces applied to the two first rolling members 210 are the same, and the problem that a gap exists between one of the rolling members 210 and the bottom wall 111 due to tilting of one of the first rolling members 210 is avoided.
The adjusting mechanism may also include two top screws 410, the two top screws 410 are distributed along the extending direction of the guide slot 110, and the two top screws 410 are respectively abutted against two ends of the first mounting base 220. In this case, the two jackscrews 410 are respectively abutted against both ends of the first mounting base 220, so that both ends of the first mounting base 220 are pressed, and the first rolling members 210 at both ends of the first mounting base 220 are closely attached to the bottom wall 111 of the guide groove 110.
In a further technical solution, the adjusting mechanism may further include a first threaded connector 420, the first mounting base 220 may be provided with a second threaded hole 222, and the first threaded connector 420 penetrates through the fork 300 and is fixedly engaged with the second threaded hole 222. In this case, the coupling strength between the yoke 300 and the first mounting base 220 can be enhanced by coupling the yoke 300 and the first mounting base 220 through the first screw 420, thereby enhancing the reliability of the lifting device.
In order to realize the movable connection between the first mounting base 220 and the fork 300, one of the first mounting base 220 and the fork 300 may be provided with a guide protrusion 221, and the other may be provided with a guide hole 321, for example, the guide protrusion 221 may be provided on the first mounting base 220, the guide hole 321 may be provided on the fork 300, and the guide protrusion 221 and the guide hole 321 may be engaged in the first direction. The guide protrusion 221 and the guide hole 321 are matched along the first direction, so that the moving precision of the first mounting base 220 and the fork 300 in the relative moving process can be improved, the structures of the guide protrusion 221 and the guide hole 321 are common, and the production is convenient. In addition, the first mounting base 220 and the fork body 300 can be conveniently disassembled and assembled through the movable connection mode of the movable matching of the guide protrusions 221 and the guide holes 321, and the disassembling and assembling difficulty of the first mounting base 220 and the fork body 300 is reduced.
The number of the guide protrusions 221 and the number of the guide holes 321 can be multiple, the guide protrusions 221 and the guide holes 321 correspond to each other one by one, when the first mounting base 220 and the fork body 300 are assembled, the guide protrusions 221 extend into the corresponding guide holes 321 respectively, the first mounting base 220 and the fork body 300 can be prevented from rotating around one of the guide protrusions 221, and the assembling difficulty of the first mounting base 220 and the fork body 300 is further reduced.
In the embodiment of the present application, the rolling mechanism 200 may further include a second rolling member 230 and a second mounting base 240, the second rolling member 230 is rotatably mounted on the second mounting base 240, the second rolling member 230 extends into the guide groove 110, the second rolling members 230 of the two rolling mechanisms 200 respectively extend into the guide grooves 110 of the two guide rails 100, the rolling surfaces of the second rolling members 230 are in rolling contact with the two side walls 112 of the guide grooves 110, and the second mounting base 240 is connected to the fork 300. The side wall 112 of the guide groove 110 may be perpendicular to the bottom wall 111. In this case, the second rolling member 230 is in rolling contact with the two sidewalls 112 of the guide groove 110, so that the rolling mechanism 200 can be prevented from driving the fork 300 to move in a direction perpendicular to the first direction, thereby further alleviating the problem of shaking during the movement of the fork 300, and further improving the stability during the movement of the fork 300.
Alternatively, the second rolling member 230 may be a second ball rotatably embedded in the second mounting base 240, and a portion of the second ball protrudes out of the second mounting base 240. Alternatively, the second rolling member 230 may be a second guide wheel, and the second guide wheel may be rotatably mounted to the second mounting base 240 by a second rotating shaft. The second mounting base 240 and the yoke 300 may be connected by a second threaded connection 500.
In the same rolling mechanism 200, the number of the second rolling members 230 and the second mounting bases 240 is plural, the second rolling members are mounted on the corresponding second mounting bases 240, the whole body formed by the plural second rolling members 230 and the second mounting bases 240 is arranged at intervals along the extending direction of the guide groove 110, and the plural second mounting bases 240 can be connected to the fork 300 through the second threaded connection 500. Compared with the technical scheme that the number of the second rolling members 230 is one, the technical mode that the plurality of second rolling members 230 are distributed at intervals and are in rolling contact with the two side walls 112 of the guide groove 110 makes the matching of the rolling mechanism 200 and the guide rail 100 more stable, and further makes the fork 300 connected with the rolling mechanism 200 move more stably.
The fork 300 may include a support platform 310 and two mounting plates 320, the support platform 310 is used for carrying goods, the support platform 310 may be perpendicular to the two guide rails 100, the two mounting plates 320 may be respectively and fixedly connected to two opposite ends of the support platform 310, and the two mounting plates 320 may be respectively connected to the first mounting bases 220 of the two rolling mechanisms 200.
The support table 310 and the mounting plate 320 may be welded and fixed as an integral structure to enhance the connection strength between the support table 310 and the mounting plate 320. Alternatively, the supporting platform 310 and the mounting plate 320 may be fixedly connected by a fastening member such as a bolt, and in this structure, the mounting plate 320 and the rolling mechanism 200 may be assembled first, and then the supporting platform 310 is mounted on the mounting plate 320, so as to facilitate the assembly of the fork 300.
Based on the lifting device of any one of the above embodiments of the present application, an embodiment of the present application further discloses a transfer robot, and the disclosed transfer robot comprises the lifting device of any one of the above embodiments. The derivation process of the beneficial effects of the transfer robot is substantially similar to the derivation process of the beneficial effects of the lifting device, and therefore, the description is omitted here.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the present embodiments are not limited to those precise embodiments, which are intended to be illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope of the appended claims.
Claims (10)
1. A lifting device of a transfer robot, comprising two guide rails (100), two rolling mechanisms (200), two adjusting mechanisms, and a fork body (300), wherein:
the guide rail (100) is provided with guide grooves (110), the two guide rails (100) are arranged in parallel, notches of the guide grooves (110) of the two guide rails (100) are arranged oppositely, the rolling mechanism (200) comprises a first rolling piece (210) and a first mounting base (220), the first rolling piece (210) is rotatably mounted on the first mounting base (220), and the first rolling pieces (210) of the two rolling mechanisms (200) respectively extend into the guide grooves (110) of the two guide rails (100);
the fork body (300) is connected to the first mounting bases (220) of the two rolling mechanisms (200), the first mounting bases (220) of the two rolling mechanisms (200) are movably connected with the fork body (300) in a first direction, the first direction is perpendicular to a plane defined by the extension directions of the two guide rails (100), the two adjusting mechanisms are respectively connected with the fork body (300) and the corresponding first mounting base (220), and the adjusting mechanisms are used for adjusting the corresponding first mounting base (220) to move relative to the fork body (300) so that the first mounting base (220) drives the first rolling element (210) to be in rolling contact with the bottom wall (111) of the guide groove (110).
2. The lifting device according to claim 1, wherein the adjusting mechanism comprises a jack screw (410), the fork body (300) is provided with a first threaded hole, the jack screw (410) is matched with the first threaded hole, and the jack screw (410) penetrates through the fork body (300) and is abutted against the first mounting base (220).
3. The lifting device according to claim 2, wherein the first rolling members (210) are provided at both ends of the first mounting base (220) in an extending direction of the guide groove (110), and the first rolling members (210) at both ends of the first mounting base (220) are in rolling contact with the bottom wall (111) of the guide groove (110).
4. The lifting device as recited in claim 3, wherein the adjusting mechanism comprises two jackscrews (410), and the fork body (300) is provided with two first threaded holes along the extending direction of the guide slot (110), the two jackscrews (410) are respectively matched with the two first threaded holes, and the two jackscrews (410) are respectively abutted against two ends of the first mounting base (220).
5. The lifting device as recited in claim 2, wherein the adjustment mechanism further comprises a first threaded connector (420), the first mounting base (220) defines a second threaded aperture (222), and the first threaded connector (420) extends through the yoke body (300) and is in fixed engagement with the second threaded aperture (222).
6. The lifting device according to claim 1, wherein one of the first mounting base (220) and the fork body (300) is provided with a guide protrusion (221), and the other one is provided with a guide hole (321), and the guide protrusion (221) is engaged with the guide hole (321) along the first direction.
7. The lifting device according to claim 1, wherein the rolling mechanism (200) further comprises a second rolling member (230) and a second mounting base (240), the second rolling member (230) is rotatably mounted to the second mounting base (240), the second rolling member (230) extends into the guide groove (110), a rolling surface of the second rolling member (230) is in rolling contact with two side walls (112) of the guide groove (110), and the second mounting base (240) is connected to the fork body (300).
8. The lifting device according to claim 7, wherein the number of the second rolling members (230) and the second mounting bases (240) is plural, the second rolling members (230) are mounted on the corresponding second mounting bases (240), and the plural second rolling members (230) and the second mounting bases (240) are formed in a whole and are arranged at intervals along the extending direction of the guide groove (110).
9. The lifting device according to claim 1, wherein the fork (300) comprises a support platform (310) and two mounting plates (320), the two mounting plates (320) are fixedly connected to opposite ends of the support platform (310), respectively, and the two mounting plates (320) are connected to the first mounting bases (220) of the two rolling mechanisms (200), respectively.
10. A transfer robot characterized by comprising the lifting device of any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221673104.5U CN217732592U (en) | 2022-06-30 | 2022-06-30 | Lifting device of transfer robot and transfer robot |
| PCT/CN2023/102102 WO2024001951A1 (en) | 2022-06-30 | 2023-06-25 | Lifting device of transfer robot and transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221673104.5U CN217732592U (en) | 2022-06-30 | 2022-06-30 | Lifting device of transfer robot and transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217732592U true CN217732592U (en) | 2022-11-04 |
Family
ID=83844347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221673104.5U Active CN217732592U (en) | 2022-06-30 | 2022-06-30 | Lifting device of transfer robot and transfer robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN217732592U (en) |
| WO (1) | WO2024001951A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024001951A1 (en) * | 2022-06-30 | 2024-01-04 | 杭州海康机器人股份有限公司 | Lifting device of transfer robot and transfer robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104603045B (en) * | 2012-09-05 | 2016-10-12 | 村田机械株式会社 | Lowering or hoisting gear |
| CN112357441A (en) * | 2020-11-02 | 2021-02-12 | 深圳市海柔创新科技有限公司 | Transfer robot |
| CN111470240A (en) * | 2020-06-05 | 2020-07-31 | 北京极智嘉科技有限公司 | Container carrying robot and using method thereof |
| CN213445685U (en) * | 2020-09-10 | 2021-06-15 | 浙江凯乐士科技有限公司 | Lifting mechanism for hoister and hoister |
| CN213621665U (en) * | 2020-11-02 | 2021-07-06 | 深圳市海柔创新科技有限公司 | Goods shelf and transfer robot |
| CN214454053U (en) * | 2020-12-24 | 2021-10-22 | 深圳市海柔创新科技有限公司 | Lifting device and transfer robot |
| CN217732592U (en) * | 2022-06-30 | 2022-11-04 | 杭州海康机器人股份有限公司 | Lifting device of transfer robot and transfer robot |
-
2022
- 2022-06-30 CN CN202221673104.5U patent/CN217732592U/en active Active
-
2023
- 2023-06-25 WO PCT/CN2023/102102 patent/WO2024001951A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024001951A1 (en) * | 2022-06-30 | 2024-01-04 | 杭州海康机器人股份有限公司 | Lifting device of transfer robot and transfer robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024001951A1 (en) | 2024-01-04 |
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